Driving assistance system and vehicle comprising the same

ABSTRACT

A driving assistance system includes a camera and at least one processor. The camera is disposed on a mounting apparatus that is rotatably coupled to a vehicle and that rotates about a rotation axis that is spaced apart from the camera. The camera is configured to rotate together with the mounting apparatus from a first point to a second point, and to capture an external image of the vehicle at the first point and the second point. The processor is configured to control the camera to capture a first image at the first point and a second image at the second point, detect an object around the vehicle based on the first image and the second image, and determine a distance between the object and the vehicle based on the first image and the second image.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority benefit of Korean PatentApplication No. 10-2017-0103749, filed on Aug. 16, 2017, in the KoreanIntellectual Property Office, the disclosure of which is incorporatedherein by reference.

FIELD

The present disclosure relates to a driving assistance system forassisting operation of a vehicle.

BACKGROUND

A vehicle is an apparatus which a user can ride and/or drive in adesired direction. An example of the vehicle may be a car.

For convenience of the user who uses the vehicle, the vehicle may beprovided with, for example, various sensors and electronic apparatuses.For example, for the convenience of the user, research on advanceddriver assistance system (ADAS) has been actively conducted. Recently,development of an autonomous vehicle has been actively conducted.

In order to detect a distance to an object or the like using a camera,disparity information may be used in a stereo image acquired from astereo camera.

In some cases, a plurality of images may need to be captured whilemoving a vehicle to detect a distance to an object or the like when thevehicle is equipped with only a monocular camera.

According to the present disclosure, a distance to an object or the likearound a vehicle may be detected by using a monocular camera even whenthe vehicle is stopped.

SUMMARY

The present disclosure may provide a driving assistance system thatdetermines a distance between a vehicle and an object using a monocularcamera when a vehicle is stopped.

The present disclosure may further provide a method of generating aroute for a vehicle to depart from a parked state based on measuredobject information.

The present disclosure may further provide a method of securing thesafety of a user by controlling a door of a vehicle based on objectinformation.

The present disclosure may further provide a display method fortransmitting a captured image and/or information generated based on thecaptured image to a user.

According to one aspect of the subject matter described in thisapplication, a driving assistance system for a vehicle includes a cameradisposed on a mounting apparatus in which the mounting apparatus has anend that is rotatably coupled to the vehicle and that is configured torotate about a rotation axis that is spaced apart from the camera. Thecamera is configured to rotate together with the mounting apparatus froma first point to a second point, where the camera is configured tocapture an external image of the vehicle at the first point and at thesecond point. The driving assistance system further includes at leastone processor configured to (i) control the camera to capture a firstimage at the first point and a second image at the second point, thefirst image and the second image including an overlapping area, (ii)detect an object around the vehicle based on an image processing of thefirst image and the second image, and (iii) determine a distance betweenthe object and the vehicle based on the first image and the secondimage.

Implementations according to this aspect may include one or more of thefollowing features. For example, the rotation axis may form an angleless than 90 degrees with respect to a direction perpendicular to aground. In some examples, the camera may be disposed on a side mirror ofthe vehicle that is configured to rotate about the rotation axis, andthe camera may be further configured to capture the external image ofthe vehicle during a rotation of the side mirror. In some examples, thecamera may be disposed on a front door of the vehicle and furtherconfigured to capture the external image of the vehicle during arotation of the front door.

In some implementations, the at least one processor may be furtherconfigured to generate a route for the vehicle to depart from a parkedstate based on location information of the object around the vehicle.The at least one processor may be further configured to: determinewhether the object is located in a space through which the vehiclepasses based on the vehicle traveling in a straight line; and generatethe route for the vehicle to depart from the parked state that allowsthe vehicle to avoid the object based on a determination that the objectis located in the space through which the vehicle passes based on thevehicle traveling in the straight line.

In some examples, the at least one processor is further configured to:determine whether the object is located in a space through which thevehicle passes based on the vehicle traveling in a forward direction;and generate the route for the vehicle to depart from the parked statethat allows the vehicle to move in a backward direction opposite to theforward direction based on a determination that the object is located inthe space through which the vehicle passes based on the vehicletraveling in the forward direction.

In some implementations, the driving assistance system may furtherinclude an interface configured to communicate with the at least oneprocessor. In this case, the at least one processor may be furtherconfigured to identify a mode for the vehicle to depart from the parkedstate based on a selection of one of a plurality of maneuvers for thevehicle to depart from the parked state and a selection of one of aplurality of directions for the vehicle to depart from the parked state.The plurality of maneuvers for the vehicle to depart from the parkedstate may include a right-angle maneuver and a parallel maneuver, andthe plurality of directions for the vehicle to depart from the parkedstate may include a left front direction, a left rear direction, a rightfront direction, and a right rear direction of the vehicle. The at leastone processor may be further configured to generate the route for thevehicle to depart from the parked state based on the mode, and controlthe interface to provide a signal to a vehicle driving device to therebycontrol the vehicle to travel along the route for the vehicle to departfrom the parked state.

In some examples, the camera may be disposed on a side mirror of thevehicle and further configured to capture the external image of thevehicle, and the at least one processor may be further configured to,based on the object being located in the route for the vehicle to departfrom the parked state, control the interface to provide a signal to amirror driving unit to cause the mirror driving unit to fold the sidemirror based on the vehicle approaching the object, or to unfold theside mirror based on the vehicle moving away from the object.

In some examples, the at least one processor may be further configuredto, based on the object being located in the route for the vehicle todepart from the parked state, control the interface to provide a signalto a power train driving unit to cause the power train driving unit todecelerate the vehicle based on the vehicle approaching the object, orto accelerate the vehicle based on the vehicle moving away from theobject.

In some examples, the at least one processor may be further configuredto generate the route from a first location at which the vehicle isparked to a second location at which a driver side door of the vehicleis able to be opened to a preset amount of opening, and control theinterface to provide a signal to a door driving unit to cause the doordriving unit to open the driver side door based on an arrival of thevehicle at the second location.

In some implementations, the at least one processor may be furtherconfigured to identify an amount of opening of a door of the vehiclebased on location information of the object, and control the interfaceto provide a signal to a door driving unit to cause the door drivingunit to open the door of the vehicle to the identified amount ofopening. In some examples, the at least one processor may be furtherconfigured to identify the amount of opening of the door of the vehiclebased on distance information between the door of the vehicle and theobject.

In some examples, the at least one processor is further configured todetermine a distance between the vehicle and the object that approachesthe vehicle based on the location information of the object, and controlthe interface to provide a signal to the door driving unit to cause thedoor driving unit to close the door based on a determination that theobject approaches the vehicle within a distance from the door.

In some implementations, the driving assistance system may furtherinclude a display, and the at least one processor may be furtherconfigured to control the display to display an image captured by thecamera. In some examples, the at least one processor may be furtherconfigured to control the display to display, based on a measurement ofa distance between the object and the vehicle, a first area where thedistance has been measured such that the first area appears differentlyin the image from a second area where the distance has not beenmeasured.

In some examples, the at least one processor may be further configuredto control the display to display images captured by the camera in whichthe images have directionality corresponding to a direction of rotationof the mounting apparatus. In some examples, the at least one processormay be further configured to control the display to superimpose, on tothe image, information regarding motion of the object. The at least oneprocessor may be further configured to control the display to displaythe image and at least a portion of information generated by an imageprocessing of the image captured by camera.

According to another aspect, a vehicle includes a plurality of wheels, apower source configured to drive a rotation of at least one of theplurality of wheels, and a driving assistance system. The drivingassistance system for a vehicle includes a camera disposed on a mountingapparatus in which the mounting apparatus has an end that is rotatablycoupled to the vehicle and that is configured to rotate about a rotationaxis that is spaced apart from the camera. The camera is configured torotate together with the mounting apparatus from a first point to asecond point, where the camera is configured to capture an externalimage of the vehicle at the first point and at the second point. Thedriving assistance system further includes at least one processorconfigured to (i) control the camera to capture a first image at thefirst point and a second image at the second point, the first image andthe second image including an overlapping area, (ii) detect an objectaround the vehicle based on an image processing of the first image andthe second image, and (iii) determine a distance between the object andthe vehicle based on the first image and the second image.

The present disclosure may provide a solution to the above-mentionedproblems as well as other problems not mentioned, and can be clearlyunderstood by those skilled in the art from the following description.

The implementations of the present disclosure may have one or more ofthe following effects.

First, since a distance between a vehicle and surrounding objects can bemeasured using a monocular camera in a state where the vehicle isstopped, it may be possible to provide a low-cost, high-efficiencydriving assistance system.

Second, a vehicle route can be efficiently generated based on measuredobject information, thereby improving user convenience.

Third, an amount of door opening of a vehicle can be set based on objectinformation, and a door can be controlled to be opened by the amount ofdoor opening, thereby ensuring safety of a user.

Fourthly, as a distance between an object and a vehicle is measured, anarea where the distance is measured can be displayed differently from anarea where the distance is not measured, thereby delivering a capturedimage and/or information generated based on the captured image to auser.

The effects of the present disclosure are not limited to the effectsmentioned above, and other effects not mentioned can be clearlyunderstood by those skilled in the art from the description of theclaims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating an example external appearance of anexample vehicle.

FIG. 2 is a diagram of an example vehicle viewed from various angles.

FIG. 3 and FIG. 4 are diagrams illustrating example interiors of anexample vehicle.

FIG. 5 and FIG. 6 are diagrams illustrating example objects.

FIG. 7 is a block diagram of example components of an example vehicle.

FIG. 8 is a block diagram of example components of an example drivingassistance system.

FIG. 9 is a control flowchart of an example process of an exampledriving assistance system.

FIG. 10 is a diagram illustrating example rotation of an example camera.

FIG. 11 is a diagram illustrating another example rotation of an examplecamera.

FIG. 12 is a diagram for illustrating another example rotation of anexample camera.

FIG. 13 is a diagram illustrating an example image processing of adriving assistance system.

FIG. 14A and FIG. 14B are diagrams illustrating example routes.

FIG. 15A and FIG. 15B are diagrams illustrating example routes.

FIGS. 16A, 16B and 16C are diagrams illustrating an example control of aside mirror.

FIGS. 17A, 17B and 17C are diagrams illustrating an example speedcontrol of a vehicle.

FIG. 18 is a diagram illustrating an example route of vehicle and anexample door control.

FIG. 19 is a diagram illustrating an example door control.

FIG. 20A and FIG. 20B are diagrams illustrating an example door control.

FIG. 21A and FIG. 21B are diagrams illustrating example images displayedon an example display.

FIG. 22 is a diagram illustrating an example image displayed on anexample display.

DETAILED DESCRIPTION

Description will now be given in detail according to exemplaryimplementations disclosed herein, with reference to the accompanyingdrawings.

A vehicle described in this specification may include a car, amotorcycle, and other type of vehicles. Hereinafter, a description willbe given based on a car.

A vehicle as described in this specification may include an internalcombustion engine vehicle having an engine as a power source, a hybridvehicle having an engine and an electric motor as a power source, anelectric vehicle having an electric motor as a power source, and thelike.

In the following description, the left side of the vehicle refers to theleft side in the traveling direction of the vehicle, and the right sideof the vehicle refers to the right side in the traveling direction ofthe vehicle.

FIG. 1 is a diagram illustrating an example external appearance of anexample vehicle.

FIG. 2 is a diagram of an example vehicle viewed from various angles.

FIG. 3 and FIG. 4 are diagrams illustrating an example interior of avehicle.

FIG. 5 and FIG. 6 are reference diagrams illustrating example objects.

FIG. 7 is a block diagram illustrating an example vehicle.

Referring to FIGS. 1 to 7, a vehicle 100 may include a wheel rotated bya power source, and a steering input unit 510 for adjusting the runningdirection of the vehicle 100.

The vehicle 100 may be an autonomous vehicle.

The vehicle 100 may be switched to an autonomous mode or a manual mode,based on a user input.

For example, the vehicle 100 may be switched from the manual mode to theautonomous mode, or switched from the autonomous mode to the manualmode, based on a received user input, via a user interface device 200.

The vehicle 100 may be switched to the autonomous mode or the manualmode, based on traveling situation information.

The traveling situation information may include at least one ofinformation on object outside the vehicle, navigation information, andvehicle state information.

For example, the vehicle 100 may be switched from the manual mode to theautonomous mode or switched from the autonomous mode to the manual mode,based on the traveling situation information generated by an objectdetection unit 300.

For example, the vehicle 100 may be switched from the manual mode to theautonomous mode or switched from the autonomous mode to the manual mode,based on the traveling situation information received via acommunication unit 400.

The vehicle 100 may be switched from the manual mode to the autonomousmode or may be switched from the autonomous mode to the manual mode,based on the information, data and signals provided from an externaldevice.

When the vehicle 100 is driven in the autonomous mode, the autonomousvehicle 100 may be driven based on an operation system 700.

For example, the autonomous vehicle 100 may be driven based oninformation, data, or signals generated in a traveling system 710, aparking out system 740, and a parking system 750.

When the vehicle 100 is driven in the manual mode, the autonomousvehicle 100 may receive a user input for driving through a maneuveringdevice 500. Based on the user input received through the maneuveringdevice 500, the vehicle 100 may be driven.

An overall length is a length from a front portion to a rear portion ofthe vehicle 100, a width is a breadth of the vehicle 100, and a heightis a length from the bottom of the wheel to a roof thereof. In thefollowing description, it is assumed that an overall length direction Lis a reference direction in which the overall length of the vehicle 100is measured, a width direction W is a reference direction in which thewidth of the vehicle 100 is measured, and a height direction H is areference direction in which the height of the vehicle 100 is measured.

As illustrated in FIG. 7, the vehicle 100 may include the user interfacedevice 200, the object detection unit 300, the communication unit 400,the maneuvering device 500, a vehicle driving device 600, the operationsystem 700, a navigation system 770, a sensing unit 120, an interface130, a memory 140, a controller 170, a power supply unit 190, and adriving assistance system 800.

In some implementations, the vehicle 100 may further include othercomponents in addition to the components described herein, or may notinclude some of the components described.

The user interface device 200 is a unit for communicating between thevehicle 100 and a user. The user interface device 200 may receive a userinput and provide the user with information generated in the vehicle100. The vehicle 100 may implement user interfaces (UI) or userexperience (UX) through the user interface device 200.

The user interface device 200 may include an input unit 210, an internalcamera 220, a biometric sensing unit 230, an output unit 250, and aprocessor 270.

In some implementations, the user interface device 200 may furtherinclude other components in addition to the components described herein,or may not include some of the components described.

The input unit 210 is an element for receiving information from a user.The data collected by the input unit 210 may be analyzed by theprocessor 270 and processed by a user's control command.

The input unit 210 may be disposed inside the vehicle. For example, theinput unit 210 may include a certain area of a steering wheel, a certainarea of an instrument panel, a certain area of a seat, a certain area ofeach pillar, a certain area of a door, a certain area of a centerconsole, a certain area of a head lining, a certain area of a sun visor,a certain area of a windshield, a certain area of a window, or the like.

The input unit 210 may include a voice input unit 211, a gesture inputunit 212, a touch input unit 213, and a mechanical input unit 214.

The voice input unit 211 may convert a voice input of a user into anelectrical signal. The converted electrical signal may be provided tothe processor 270 or the controller 170.

The voice input unit 211 may include one or more microphones.

The gesture input unit 212 may convert user's gesture input to anelectrical signal. The converted electrical signal may be provided tothe processor 270 or the controller 170.

The gesture input unit 212 may include at least one of an infraredsensor and an image sensor for sensing user's gesture input.

In some implementations, the gesture input unit 212 may sense user'sthree-dimensional gesture input. To this end, the gesture input unit 212may include a light output unit for outputting a plurality of infraredrays or a plurality of image sensors.

The gesture input unit 212 may sense user's three-dimensional gestureinput through a time of flight (TOF) method, a structured light method,or a disparity method.

The touch input unit 213 may convert the touch input of a user into anelectrical signal. The converted electrical signal may be provided tothe processor 270 or the controller 170.

The touch input unit 213 may include a touch sensor for sensing thetouch input of a user.

In some implementations, the touch input unit 213 may be integrated witha display unit 251 to implement a touch screen. Such a touch screen mayprovide an input interface between the vehicle 100 and a user and anoutput interface simultaneously.

The mechanical input unit 214 may include at least one of a button, adome switch, a jog wheel, and a jog switch. The electrical signalgenerated by the mechanical input unit 214 may be provided to theprocessor 270 or the controller 170.

The mechanical input unit 214 may be disposed in a steering wheel, acenter fascia, a center console, a cockpit module, a door, or the like.

The internal camera 220 may acquire an in-vehicle image. The processor270 may detect the state of a user based on the in-vehicle image. Theprocessor 270 may acquire user's gaze information from the in-vehicleimage. The processor 270 may detect user's gesture in the in-vehicleimage.

The biometric sensing unit 230 may acquire biometric information of auser. The biometric sensing unit 230 may include a sensor capable ofacquiring the biometric information of the user, and may acquirefingerprint information, heartbeat information, and the like of the userusing the sensor. The biometric information may be used for userauthentication.

The output unit 250 is an element for generating an output related tovision, auditory, tactile sense, or the like.

The output unit 250 may include at least one of a display unit 251, asound output unit 252, and a haptic output unit 253.

The display unit 251 may display graphic objects corresponding tovarious information.

The display unit 251 may include at least one of a liquid crystaldisplay (LCD), a thin film transistor-liquid crystal display (TFT LCD),an organic light-emitting diode (OLED), a flexible display, a 3Ddisplay, and an e-ink display.

The display unit 251 may achieve a mutual layer structure with the touchinput unit 213 or may be integrally formed to implement a touch screen.

The display unit 251 may be implemented as a Head Up Display (HUD). Whenthe display unit 251 is implemented as an HUD, the display unit 251 mayinclude a projection module to output information through an imageprojected on a windshield or a window.

The display unit 251 may include a transparent display. The transparentdisplay may be attached to a windshield or window.

The transparent display may display a certain screen while having acertain transparency. In order to have transparency, the transparentdisplay may include at least one of a transparent thin filmelectroluminescent (TFEL), a transparent organic light-emitting diode(OLED), a transparent liquid crystal display (LCD), a transmissivetransparent display, and a transparent light emitting diode (LED)display. The transparency of the transparent display may be adjusted.

In some implementations, the user interface device 200 may include aplurality of display units 251 at a plurality of areas 251 a to 251 g.

The display unit 251 may be disposed in a certain area of the steeringwheel, a certain area 251 a, 251 b, and 251 e of the instrument panel, acertain area 251 d of the seat, a certain area 251 f of each pillar, acertain area 251 g of the door, a certain area of the center console, acertain area of the head lining, and a certain area of the sun visor, ormay be implemented in a certain area 251 c of the windshield, and acertain area 251 h of the window.

The sound output unit 252 may convert an electric signal provided fromthe processor 270 or the controller 170 into an audio signal and outputthe audio signal. To this end, the sound output unit 252 may include oneor more speakers.

The haptic output unit 253 may generate a tactile output. For example,the haptic output unit 253 may operate to vibrate the steering wheel, asafety belt, the seat 110FL, 110FR, 110RL, and 110RR so that a user canrecognize an output.

The processor 270 may control the overall operation of each unit of theuser interface device 200.

In some implementations, the user interface device 200 may include aplurality of processors 270, or may not include a processor 270.

When the user interface device 200 does not include the processor 270,the user interface device 200 may be operated under the control of aprocessor of another unit in the vehicle 100 or the controller 170.

In some implementations, the user interface device 200 may be referredto as a vehicle display unit.

The user interface device 200 may be operated under the control of thecontroller 170.

The object detection unit 300 is an apparatus for detecting an objectlocated outside the vehicle 100. The object detection unit 300 maygenerate object information based on sensing data.

The object information may include information on whether object exists,location information of object, distance information between vehicle 100and object, and relative speed information between vehicle 100 andobject.

The object may be various objects related to the driving of the vehicle100.

Referring to FIG. 5 to FIG. 6, an object O may include a lane OB10,other vehicle OB11, a pedestrian OB12, a two-wheeler OB13, a trafficsignal OB14 and OB15, a light, a road, a structure, a speed bump, aterrain, an animal, and the like.

The lane OB10 may be a travelling lane, a side lane of the travellinglane, and a lane on which an opposed vehicle travels. The lane OB10 mayinclude left and right lines forming a lane. A lane may include anintersection.

The other vehicle OB11 may be a vehicle traveling around the vehicle100. The other vehicle may be a vehicle located within a certaindistance from the vehicle 100. For example, the other vehicle OB11 maybe a vehicle preceding or following the vehicle 100.

The pedestrian OB12 may be a person located around the vehicle 100. Thepedestrian OB12 may be a person located within a certain distance fromthe vehicle 100. For example, the pedestrian OB12 may be a personlocated on a sidewalk or a driveway.

The two-wheeler OB13 may be a conveyance located around the vehicle 100and moves using two wheels. The two-wheeler OB13 may be a conveyancehaving two wheels located within a certain distance from the vehicle100. For example, the two-wheeler OB13 may be a motorcycle or a bicyclelocated on a sidewalk or a driveway.

The traffic signal may include a traffic light (OB15), a traffic sign(OB14), and a pattern or text drawn on a road surface.

The light may be light generated from a lamp provided in other vehicle.The light may be a light generated from a street light. The light may bea solar light.

The road may include a road surface, a curve, a slope such as an ascent,a descent, and the like.

The structure may be an object located around the road and fixed to theground. For example, the structure may include a street light, a streettree, a building, a telephone pole, a traffic light, a bridge, a curb,and a wall.

The terrain may include mountains, hills, and the like.

In some implementations, an object may be classified into a movingobject and a fixed object. For example, the moving object may include amoving other vehicle, and a moving pedestrian. For example, the fixedobject may include a traffic signal, a road, a structure, a stoppedother vehicle, and a stopped pedestrian.

The object detection unit 300 may include a camera 310, a radar 320, aLight Detection and Ranging device (LIDAR) 330, an ultrasonic sensor340, an infrared sensor 350, and a processor 370.

In some implementations, the object detection unit 300 may furtherinclude other components in addition to the described components, or maynot include some of the described components.

The camera 310 may be located in an appropriate position outside thevehicle to acquire an external image of the vehicle. The camera 310 maybe a monocular camera, a stereo camera 310 a, an around view monitoring(AVM) camera 310 b, or a 360-degree camera.

The camera 310 may acquire information on a location of object,information on distance to object, or information on relative speed withobject, by using various image processing algorithms.

For example, the camera 310 may acquire the information on distance toobject and the information on relative speed with object, based on achange in an object size over time, from the acquired image.

For example, the camera 310 may acquire the information on distance toobject and the information on relative speed with object, through a pinhole model, a road surface profiling, and the like.

For example, the camera 310 may acquire the information on distance toobject and the information on relative speed with object, based ondisparity information in the stereo image acquired by the stereo camera310 a.

For example, the camera 310 may be disposed, in the interior of thevehicle, close to a front windshield, so as to acquire an image ahead ofthe vehicle. Alternatively, the camera 310 may be disposed around afront bumper or radiator grille.

For example, the camera 310 may be disposed, in the interior of thevehicle, close to a rear glass, so as to acquire an image behind thevehicle. Alternatively, the camera 310 may be disposed around a rearbumper, a trunk, or a tailgate.

For example, the camera 310 may be disposed, in the interior of thevehicle, close to at least one of the side windows so as to acquire animage of the side of the vehicle. Alternatively, the camera 310 may bedisposed around a side mirror, a fender, or a door.

The camera 310 may provide the acquired image to the processor 370.

The radar 320 may include an electromagnetic wave transmitting unit andan electromagnetic wave receiving unit. The radar 320 may be implementedby a pulse radar method or a continuous wave radar method in terms ofthe radio wave emission principle.

The radar 320 may be implemented by a frequency modulated continuouswave (FMCW) method or a frequency shift keying (FSK) method according toa signal waveform among a continuous wave radar method.

The radar 320 may detect an object based on a time-of-flight (TOF)method or a phase-shift method through an electromagnetic wave, anddetect the location of the detected object, the distance to the detectedobject, and the relative speed with the detected object.

The radar 320 may be disposed in an appropriate position outside thevehicle to detect an object located at the front, rear, or side of thevehicle.

The LIDAR 330 may include a laser transmitting unit and a laserreceiving unit. The LIDAR 330 may be implemented in the time-of-flight(TOF) method or the phase-shift method.

The LIDAR 330 may be implemented in a driving type or a non-drivingtype.

When implemented in the driving type, the LIDAR 330 may be rotated by amotor and may detect an object around the vehicle 100.

When implemented in the non-driving type, the LIDAR 330 may detect anobject located within a certain range based on the vehicle 100 byoptical steering. The vehicle 100 may include a plurality of non-drivingtype LIDARs 330.

The LIDAR 330 may detect an object based on the time-of-flight (TOF)method or the phase-shift method, through a laser light, and detect thelocation of the detected object, the distance to the detected object,and the relative speed with the detected object.

The LIDAR 330 may be disposed in an appropriate position outside thevehicle to detect an object located at the front, rear, or side of thevehicle.

The ultrasonic sensor 340 may include an ultrasonic transmitting unitand an ultrasonic receiving unit. The ultrasonic sensor 340 may detectthe object based on an ultrasonic wave, and may detect the location ofthe detected object, the distance to the detected object, and therelative speed with the detected object.

The ultrasonic sensor 340 may be disposed in an appropriate positionoutside the vehicle to detect an object located at the front, rear, orside of the vehicle.

The infrared sensor 350 may include an infrared ray transmitting unitand an infrared ray receiving unit. The infrared sensor 350 may detectthe object based on an infrared ray, and may detect the location of thedetected object, the distance to the detected object, and the relativespeed with the detected object.

The infrared sensor 350 may be disposed in an appropriate positionoutside the vehicle to detect an object located at the front, rear, orside of the vehicle.

The processor 370 may control the overall operation of each unit of theobject detection unit 300.

The processor 370 may compare data sensed by the camera 310, the radar320, the LIDAR 330, the ultrasonic sensor 340, and the infrared sensor350 with pre-stored data to detect or classify the object.

The processor 370 may detect and track the object based on the acquiredimage. The processor 370 may perform operations such as calculating adistance to object, calculating a relative speed with object, and thelike through an image processing algorithm.

For example, the processor 370 may acquire information on distance toobject, or information on relative speed with object, based on a changein an object size over time, form the acquired image.

For example, the processor 370 may acquire the information on distanceto object, or the information on relative speed with object through apin hole model, a road surface profiling, and the like.

For example, the processor 370 may acquire the information on distanceto object, or the information on relative speed with object based ondisparity information in a stereo image acquired by the stereo camera310 a.

The processor 370 may detect and track an object based on a reflectedelectromagnetic wave which is a transmitted electromagnetic wave that isreflected by the object and returned. The processor 370 may performoperations such as calculating a distance to the object and calculatinga relative speed with the object based on the electromagnetic wave.

The processor 370 may detect and track an object based on a reflectedlaser light which is a transmitted electromagnetic laser that isreflected by the object and returned. The processor 370 may performoperations such as calculating a distance to the object and calculatinga relative speed with the object based on the laser light.

The processor 370 may detect and track an object based on a reflectedultrasonic wave which is a transmitted ultrasonic wave that is reflectedby the object and returned. The processor 370 may perform operationssuch as calculating a distance to the object and calculating a relativespeed with the object based on the ultrasonic wave.

The processor 370 may detect and track an object based on a reflectedinfrared light which is a transmitted infrared light that is reflectedby the object and returned. The processor 370 may perform operationssuch as calculating a distance to the object and calculating a relativespeed with the object based on the infrared light.

In some implementations, the object detection unit 300 may include aplurality of processors 370 or may not include the processor 370. Forexample, each of the camera 310, the radar 320, the LIDAR 330, theultrasonic sensor 340, and the infrared sensor 350 may individuallyinclude a processor.

The object detection unit 300 may be operated under the control of aprocessor of a unit in the vehicle 100 or the controller 170, when theobject detection unit 300 does not include the processor 370.

The object detection unit 300 may be operated under the control of thecontroller 170.

The communication unit 400 is a unit for performing communication withan external device. Here, the external device may be other vehicle, amobile terminal, or a server.

The communication unit 400 may include at least one of a transmissionantenna, a reception antenna, a radio frequency (RF) circuit capable ofimplementing various communication protocols, and a RF device, so as toaccomplish communication.

The communication unit 400 may include a short-range communication unit410, a location information unit 420, a V2X communication unit 430, anoptical communication unit 440, a broadcast transmission/reception unit450, an intelligent transport systems (ITS) communication unit 460, anda processor 470.

In some implementations, the communication unit 400 may further includeother components in addition to the described components, or may notinclude some of the described components.

The short-range communication unit 410 is a unit for short-rangecommunication. The short-range communication unit 410 may support ashort-range communication by using at least one of Bluetoothm, RadioFrequency Identification (RFID), Infrared Data Association (IrDA),Ultra-Wideband (UWB), ZigBee, Near Field Communication (NFC)Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, and Wireless Universal SerialBus (Wireless USB) technologies.

The short-range communication unit 410 may form short-range wirelessarea networks to perform short-range communication between the vehicle100 and at least one external device.

The location information unit 420 is a unit for acquiring locationinformation of the vehicle 100. For example, the location informationunit 420 may include a Global Positioning System (GPS) module or aDifferential Global Positioning System (DGPS) module.

The V2X communication unit 430 is a unit for performing wirelesscommunication with a server (V2I: Vehicle to Infra), other vehicle (V2V:Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). TheV2X communication unit 430 may include an RF circuit capable ofimplementing protocols for communication with infra (V2I), inter-vehiclecommunication (V2V), and communication with pedestrian (V2P).

The optical communication unit 440 is a unit for performingcommunication with an external device through light. The opticalcommunication unit 440 may include a light transmitting unit thatconverts an electric signal into an optical signal and transmits theoptical signal to the outside, and a light receiving unit that convertsa received optical signal into an electric signal.

In some implementations, the light transmitting unit may be formed to beintegrated with a lamp included in the vehicle 100.

The broadcast transmission/reception unit 450 is a unit for receiving abroadcast signal from an external broadcast management server through abroadcast channel or transmitting a broadcast signal to a broadcastmanagement server. The broadcast channel may include a satellite channeland a terrestrial channel. The broadcast signal may include a TVbroadcast signal, a radio broadcast signal, and a data broadcast signal.

The ITS communication unit 460 may exchange information, data or signalswith a traffic system. The ITS communication unit 460 may provideacquired information and data to the traffic system. The ITScommunication unit 460 may receive information, data, or signals fromthe traffic system. For example, the ITS communication unit 460 mayreceive road traffic information from the traffic system and provide itto the controller 170. For example, the ITS communication unit 460 mayreceive a control signal from the traffic system and provide it to thecontroller 170 or a processor provided in the vehicle 100.

The processor 470 may control the overall operation of each unit of thecommunication unit 400.

In some implementations, the communication unit 400 may include aplurality of processors 470 or may not include processor 470.

When the processor 470 is not included in the communication unit 400,the communication unit 400 may be operated under the control of aprocessor of other unit in the vehicle 100 or the controller 170.

In some implementations, the communication unit 400 may implement avehicle display apparatus together with the user interface device 200.In this case, the vehicle display apparatus may be referred to as atelematics apparatus or an audio video navigation (AVN) apparatus.

The communication unit 400 may be operated under the control of thecontroller 170.

The maneuvering device 500 is a unit for receiving a user input fordriving.

In a manual mode, the vehicle 100 may be driven based on a signalprovided by the maneuvering device 500.

The maneuvering device 500 may include a steering input unit 510, anacceleration input unit 530, and a brake input unit 570.

The steering input unit 510 may receive a traveling direction input ofthe vehicle 100 from a user. The steering input unit 510 may be formedin a wheel shape so that steering input may be performed by rotation. Insome implementations, the steering input unit may be formed as a touchscreen, a touch pad, or a button.

The acceleration input unit 530 may receive an input for acceleration ofthe vehicle 100 from the user. The brake input unit 570 may receive aninput for deceleration of the vehicle 100 from the user. Theacceleration input unit 530 and the brake input unit 570 may be formedin a pedal shape. In some implementations, the acceleration input unitor the brake input unit may be formed as a touch screen, a touch pad, ora button.

The maneuvering device 500 may be operated under the control of thecontroller 170.

The vehicle driving device 600 is an apparatus for electricallycontrolling the driving of various units in the vehicle 100.

The vehicle driving device 600 may include a power train driving unit610, a chassis driving unit 620, a door/window driving unit 630, asafety apparatus driving unit 640, a lamp driving unit 650, an airconditioning driving unit 660, and a mirror driving unit 670.

In some implementations, the vehicle driving device 600 may furtherinclude other components in addition to the described components, or maynot include some of the described components.

In some implementations, the vehicle driving device 600 may include aprocessor. Each unit of the vehicle driving device 600 may individuallyinclude a processor.

The power train driving unit 610 may control the operation of a powertrain apparatus.

The power train driving unit 610 may include a power source driving unit611 and a transmission driving unit 612.

The power source driving unit 611 may perform a control of a powersource of the vehicle 100.

For example, when a fossil fuel-based engine is a power source, thepower source driving unit 611 may perform electronic control of theengine. Thus, the output torque of the engine and the like may becontrolled. The power source driving unit 611 may adjust the engineoutput torque under the control of the controller 170.

For example, when an electric energy based motor is a power source, thepower source driving unit 611 may perform control of the motor. Thepower source driving unit 611 may adjust the rotation speed, the torque,and the like of the motor under the control of the controller 170.

The transmission driving unit 612 may perform control of a transmission.

The transmission driving unit 612 may adjust the state of thetransmission. The transmission driving unit 612 may adjust the state ofthe transmission to driving (D), reverse (R), neutral (N), or parking(P).

In some implementations, when the engine is a power source, thetransmission driving unit 612 may adjust a gear engagement state in thedriving (D) state.

The chassis driving unit 620 may control the operation of a chassisapparatus.

The chassis driving unit 620 may include a steering driving unit 621, abrake driving unit 622, and a suspension driving unit 623.

The steering driving unit 621 may perform electronic control of asteering apparatus in the vehicle 100. The steering driving unit 621 maychange the traveling direction of the vehicle.

The brake driving unit 622 may perform electronic control of a brakeapparatus in the vehicle 100. For example, it is possible to reduce thespeed of the vehicle 100 by controlling the operation of a brakedisposed in a wheel.

In some implementations, the brake driving unit 622 may individuallycontrol each of a plurality of brakes. The brake driving unit 622 maycontrol the braking forces applied to the plurality of wheels to bedifferent from each other.

The suspension driving unit 623 may perform electronic control of asuspension apparatus in the vehicle 100. For example, when there is acurvature on the road surface, the suspension driving unit 623 maycontrol the suspension apparatus so as to reduce the vibration of thevehicle 100.

In some implementations, the suspension driving unit 623 mayindividually control each of the plurality of suspensions.

The door/window driving unit 630 may perform electronic control of adoor apparatus or a window apparatus in the vehicle 100.

The door/window driving unit 630 may include a door driving unit 631 anda window driving unit 632.

The door driving unit 631 may control the door apparatus. The doordriving unit 631 may control the opening and closing of a plurality ofdoors included in the vehicle 100. The door driving unit 631 may controlthe opening or closing of a trunk or a tail gate. The door driving unit631 may control the opening or closing of a sunroof.

The window driving unit 632 may perform electronic control of the windowapparatus. It is possible to control the opening or closing of aplurality of windows included in the vehicle 100.

The safety apparatus driving unit 640 may perform electronic control ofvarious safety apparatuses in the vehicle 100.

The safety apparatus driving unit 640 may include an airbag driving unit641, a seatbelt driving unit 642, and a pedestrian protection apparatusdriving unit 643.

The airbag driving unit 641 may perform electronic control of an airbagapparatus in the vehicle 100. For example, the airbag driving unit 641may control an airbag to be unfolded when a danger is detected.

The seatbelt driving unit 642 may perform electronic control of aseatbelt apparatus in the vehicle 100. For example, the seatbelt drivingunit 642 may control a passenger to be fixed to the seats 110FL, 110FR,110RL, and 110RR using a seatbelt when a danger is detected.

The pedestrian protection apparatus driving unit 643 may performelectronic control of a hood lift and a pedestrian airbag. For example,the pedestrian protection apparatus driving unit 643 may control thehood lift-up and the pedestrian airbag unfoldment when a collision witha pedestrian is detected.

The lamp driving unit 650 may perform electronic control of various lampapparatuses in the vehicle 100. The air conditioning driving unit 660may perform electronic control of an air conditioner in the vehicle 100.For example, when the temperature inside the vehicle is high, the airconditioning driving unit 660 may control the air conditioner to operateso that cool air is supplied to the inside of the vehicle.

The vehicle driving device 600 may include a processor. Each unit of thevehicle driving device 600 may individually include a processor.

The mirror driving unit 670 may drive at least one mirror provided inthe vehicle including a side mirror 110 and a rearview mirror.

The mirror driving unit 670 may drive the side mirror 110 to be foldedand unfolded.

The vehicle driving device 600 may be operated under the control of thecontroller 170.

The operation system 700 is a system for controlling various driving ofthe vehicle 100. The operation system 700 may be operated in theautonomous mode.

The operation system 700 may include the traveling system 710, theparking out system 740, and the parking system 750.

In some implementations, the operation system 700 may further includeother components in addition to the described components, or may notinclude some of the described components.

In some implementations, the operation system 700 may include aprocessor. Each unit of the operation system 700 may individuallyinclude a processor.

In some implementations, when the operation system 700 is implemented insoftware, it may be a sub-concept of the controller 170.

In some implementations, the operation system 700 may include at leastone of the user interface device 200, the object detection unit 300, thecommunication unit 400, the maneuvering device 500, the vehicle drivingdevice 600, the navigation system 770, the sensing unit 120, and thecontroller 170.

The traveling system 710 may perform the traveling of the vehicle 100.

The traveling system 710 may receive navigation information from thenavigation system 770 and provide a control signal to the vehicledriving device 600 to perform the traveling of the vehicle 100.

The traveling system 710 may receive object information from the objectdetection unit 300 and provide a control signal to the vehicle drivingdevice 600 to perform the traveling of the vehicle 100.

The traveling system 710 may receive a signal from an external devicevia the communication unit 400 and provide a control signal to thevehicle driving device 600 to perform the traveling of the vehicle 100.

The traveling system 710 may be a system that includes at least one ofthe user interface device 200, the object detection unit 300, thecommunication unit 400, the maneuvering device 500, the vehicle drivingdevice 600, the navigation system 770, the sensing unit 120, and thecontroller 170 to perform the traveling of the vehicle 100.

Such a traveling system 710 may be referred to as a vehicle travelingcontrol unit.

The parking out system 740 may perform the parking out of the vehicle100.

The parking out system 740 may receive the navigation information fromthe navigation system 770 and provide a control signal to the vehicledriving device 600 to perform the parking out of the vehicle 100.

The parking out system 740 may receive object information from theobject detection unit 300 and provide a control signal to the vehicledriving device 600 to perform the parking out of the vehicle 100.

The parking out system 740 may receive a signal from an external devicevia the communication unit 400 and provide a control signal to thevehicle driving device 600 to perform the parking out of the vehicle100.

The parking out system 740 may be a system that includes at least one ofthe user interface device 200, the object detection unit 300, thecommunication unit 400, the maneuvering device 500, the vehicle drivingdevice 600, the navigation system 770, the sensing unit 120, and thecontroller 170 to perform the parking out of the vehicle 100.

Such a parking out system 740 may be referred to as a vehicle parkingout control unit.

The parking system 750 may perform parking of the vehicle 100.

The parking system 750 may receive the navigation information from thenavigation system 770 and provide a control signal to the vehicledriving device 600 to perform parking of the vehicle 100.

The parking system 750 may receive object information from the objectdetection unit 300 and provide a control signal to the vehicle drivingdevice 600 to perform parking of the vehicle 100.

The parking system 750 may receive a signal from an external device viathe communication unit 400 and provide a control signal to the vehicledriving device 600 to perform parking of the vehicle 100.

The parking system 750 may be a system that includes at least one of theuser interface device 200, the object detection unit 300, thecommunication unit 400, the maneuvering device 500, the vehicle drivingdevice 600, the navigation system 770, the sensing unit 120, and thecontroller 170 to perform parking of the vehicle 100.

Such a parking system 750 may be referred to as a vehicle parkingcontrol unit.

The navigation system 770 may provide navigation information. Thenavigation information may include at least one of map information, setdestination information, route information according to the destinationsetting, information related to various objects on a route, laneinformation, and current position information of vehicle.

The navigation system 770 may include a memory and a processor. Thememory may store the navigation information. The processor may controlthe operation of the navigation system 770.

In some implementations, the navigation system 770 may receiveinformation from an external device via the communication unit 400 andmay update pre-stored information.

In some implementations, the navigation system 770 may be classified asa subcomponent of the user interface device 200.

The sensing unit 120 may sense the state of the vehicle. The sensingunit 120 may include an inertial navigation unit (IMU) sensor, acollision sensor, a wheel sensor, a speed sensor, a tilt sensor, aweight sensor, a heading sensor, a position module, a vehicleforward/reverse sensor, a battery sensor, a fuel sensor, a tire sensor,a steering sensor for steering wheel rotation, a vehicle interiortemperature sensor, a vehicle interior humidity sensor, an ultrasonicsensor, an illumination sensor, an accelerator pedal position sensor, abrake pedal position sensor, and the like.

In some implementations, the inertial navigation unit (IMU) sensor mayinclude at least one of an acceleration sensor, a gyro sensor, and amagnetic sensor.

The sensing unit 120 may acquire a sensing signal relating to vehicleposture information, vehicle motion information, vehicle yawinformation, vehicle roll information, vehicle pitch information,vehicle collision information, vehicle direction information, vehicleposition information (GPS information), vehicle angle information,vehicle speed information, vehicle acceleration information, vehicletilt information, vehicle forward/backward information, batteryinformation, fuel information, tire information, vehicle lampinformation, vehicle interior temperature information, vehicle interiorhumidity information, steering wheel rotation angle, vehicle exteriorillumination, pressure applied to the accelerator pedal, pressureapplied to the brake pedal, and the like.

The sensing unit 120 may further include an accelerator pedal sensor, apressure sensor, an engine speed sensor, an air flow sensor (AFS), anair temperature sensor (ATS), a water temperature sensor WTS, a throttleposition sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and thelike.

The sensing unit 120 may generate vehicle state information, based onthe sensing data. The vehicle state information may be informationgenerated based on data sensed by various sensors provided in thevehicle.

For example, the vehicle state information may include postureinformation of vehicle, speed information of vehicle, tilt informationof vehicle, weight information of vehicle, direction information ofvehicle, battery information of vehicle, fuel information of vehicle,tire pressure information of vehicle, steering information of vehicle,vehicle interior temperature information, vehicle interior humidityinformation, pedal position information, vehicle engine temperatureinformation, and the like.

The interface 130 may serve as a passage to various external devicesconnected to the vehicle 100. For example, the interface 130 may includea port that can be connected to a mobile terminal, and may be connectedto the mobile terminal through the port. In this case, the interface 130may exchange data with the mobile terminal.

In some implementations, the interface 130 may serve as a passage forsupplying electrical energy to the connected mobile terminal. When themobile terminal is electrically connected to the interface 130, theinterface 130 may provide the mobile terminal with electric energysupplied from the power supply unit 190, under the control of thecontroller 170.

The memory 140 may be electrically connected to the controller 170. Thememory 140 may store basic data for a unit, control data for controllingthe operation of the unit, and input/output data. The memory 140 may be,in hardware, various storage units such as a ROM, a RAM, an EPROM, aflash drive, a hard drive, and the like. The memory 140 may storevarious data for the overall operation of the vehicle 100, such as aprogram for processing or controlling the controller 170.

In some implementations, the memory 140 may be formed integrally withthe controller 170 or may be implemented as a subcomponent of thecontroller 170. The controller 170 may control the overall operation ofeach unit in the vehicle 100. The controller 170 may be referred to asan electronic control unit (ECU).

The power supply unit 190 may supply power necessary for operation ofeach component, under the control of the controller 170. For example,the power supply unit 190 may receive power from a battery or the likeinside the vehicle.

One or more processors and the controller 170 included in the vehicle100 may be implemented using at least one of application specificintegrated circuits (ASICs), digital signal processors (DSPs), digitalsignal processing devices (DSPDs), programmable logic devices (PLDs)field programmable gate arrays (FPGAs), processors, controllers,micro-controllers, microprocessors, and other electrical units forperforming other functions.

FIG. 8 is a block diagram illustrating an example driving assistancesystem.

The driving assistance system 800 is a system for assisting variousoperations of the vehicle 100. The driving assistance system 800 may beoperated in a manual mode or an autonomous mode.

Referring to FIG. 8, the driving assistance system 800 may include acamera 810, a controller 850, an interface 870, and a power supply unit890.

In some implementations, the driving assistance system 800 may include adisplay 830.

In some implementations, the driving assistance system 800 may furtherinclude other components in addition to the described components, or maynot include some of the described components.

In some implementations, the driving assistance system 800 may include asingle controller 850, or each unit of the driving assistance system 800may include a processor individually. In some cases, the drivingassistance system 800 may include a plurality of controllers 850, oreach unit of the driving assistance system 800 may include a pluralityof controllers.

The driving assistance system 800 may be a system that uses the camera310, the controller 170, the interface 130, and the display unit 251provided in the vehicle 100 so as to assist the vehicle driving.

The driving assistance system 800 may be implemented as a separatehardware in the vehicle 100, but may refer to a bundle of componentsprovided in the vehicle 100.

The camera 810 may be a camera 310 included in the object detection unit300. The camera 810 may be provided separately from the camera 310included in the object detection unit 300.

The camera 810 may be disposed on a mounting apparatus having an end,which is rotatably installed in the vehicle 100 and rotates based on arotation axis, and may be spaced apart from the rotation axis.

The mounting apparatus having one end rotatably installed in the vehicle100 may be provided on the outer side of the vehicle 100, so that theother end of the mounting apparatus can be rotated while being protrudedoutside the vehicle body.

For example, the mounting apparatus having an end rotatably installed inthe vehicle 100 may be a side mirror 110 of the vehicle 100.

For another example, the mounting apparatus having an end rotatablyinstalled in the vehicle 100 may be a front door 105 of the left side orright side of the vehicle 100.

The mounting apparatus having an end rotatably installed in the vehicle100 may be a rear door of the left side or right side of the vehicle100.

The mounting apparatus having an end rotatably installed in the vehicle100 may be any one as long as it is rotatably installed in the vehicle100 and rotates based on the rotation axis, in addition to the abovementioned side mirror 110, and front door 105. An example where themounting apparatus is the side mirror 110 and the case where themounting apparatus is the front door 105 will be described below.

However, the scope of the present disclosure is not limited thereto. Thepresent disclosure may be similarly applied to a case where the mountingapparatus having one end rotatably installed in the vehicle 100 is notthe side mirror 110 and the front door 105.

The side mirror 110 may have one end that is rotatably installed in thevehicle 100, and may rotate based on the rotation axis.

The side mirror 110 may be provided in such a manner that the rotationaxis may be perpendicular to the ground or may form an angle with thedirection perpendicular to the ground depending on a type of the vehicle100.

In some implementations, the side mirror 110 may be rotated by therotation of the front door 105 provided with the side mirror 110. Inthis case, the side mirror 110 may rotate based on the rotation axis ofthe front door 105.

Even when the front door 105 provided with the side mirror 110 rotates,as in the case where the side mirror 110 is rotated while the front door105 is fixed, the description.

The side mirror 110 may rotate based on the rotation axis so that theangle of the side mirror 110 with respect to the front-rear direction ofthe vehicle 100 may be in a range from 0 to 90 degrees. The side mirror110 may rotate based on the rotation axis so that the angle of the sidemirror 110 with respect to the front-rear direction of the vehicle 100may be 20 to 80 degrees.

For example, the angle of the side mirror 110 with respect to thefront-rear direction of the vehicle 100 in the folded state may be equalto or less than 20 degrees, and the angle of the side mirror 110 withrespect to the front-rear direction of the vehicle 100 in the unfoldedstate may be equal to or greater than 80 degrees.

The front door 105 may have one end that is rotatably installed in thevehicle 100, and may rotate based on the rotation axis. The abovedescription of the side mirror 110 may be similarly applied to the frontdoor 105.

The camera 810 is disposed apart from the rotation axis such that thecamera 810 does not spin in place but revolves around the rotation axis.

In some examples, as the camera 810 is disposed closer to the rotationaxis on the mounting apparatus, the range of capturing may become less,and the blind zone may be reduced. As the camera 810 is disposed fartherfrom the rotation axis on the mounting apparatus, the range of capturingmay become wider, and the blind zone may be more generated.

The camera 810 may rotate at the same angular speed as the mountingapparatus and may capture an external image of the vehicle 100 at afirst point and a second point.

For example, the camera 810 may rotate at the same angular speed as themounting apparatus when the camera 810 is rotated integrally with themounting apparatus as the mounting apparatus, in which the camera 810 isinstalled, is rotated.

The first point and the second point may be a different point. Thecamera 810 may capture the external image of the vehicle 100 at aplurality of points including the first point and the second point. Thecamera 810 may continuously photograph while moving from the first pointto the second point.

The camera 810 may capture the external image of the vehicle 100 at thefirst point in which the camera is positioned when the mountingapparatus begins to rotate and at the second point in which the camerais positioned when the mounting apparatus finishes rotating.

The external image may be an external image of the vehicle 100 and animage of one or more objects (0) outside the vehicle 100. The externalimage may include an image related to the external appearance of thevehicle 100.

The camera 810 may be disposed on the side mirror 110 of the vehicle100. The camera 810 may capture the external image of the vehicle 100while the side mirror 110 rotates.

The camera 810 may be disposed adjacent to the end of the side mirror110 remote from the rotation axis, rather than the end of the sidemirror 110 close to the rotation axis of the side mirror 110.

The camera 810 may be disposed on the front door 105 of the vehicle 100.The camera 810 may capture the external image of the vehicle 100 whilethe front door 105 rotates.

The camera 810 may be disposed adjacent to the end portion of the frontdoor 105 remote from the rotation axis, rather than the end portion ofthe front door 105 close to the rotation axis of the front door 105.

In some examples, the camera 810 may be disposed on the front door 105of the vehicle 100, for example, on the side mirror 110 provided on thefront door 105.

In the present implementation, it is illustrated that the camera 810 isa monocular camera 810, but the present disclosure is not limitedthereto, and the present disclosure may also be applied to a case wherethe camera 810 is not a monocular camera 810 such as a stereo camera anda binocular camera.

The display 830 may display an image captured by the camera 810.

The display 830 may display an area where the distance is measuredseparately from an area where the distance is not measured.

The display 830 may display at least one of brightness, saturation,color, and sharpness differently so that the area where the distance ismeasured and the area where the distance is not measured can bedistinguished from each other.

The display 830 may display the image displayed on the display 830 to bedirectional, in response to the direction in which the mountingapparatus is rotated.

The display 830 may display dynamic information of the object O to besuperimposed on the image captured by the camera 810.

The dynamic information of the object O may include at least one of adistance between the vehicle and the object O, a speed of the object O,and an acceleration of the object O.

The display 830 may display at least one of the image captured by thecamera 810 and information generated through the image processing of theimage captured by the camera 810.

The controller 850 may control the camera 810 so that a first imagecaptured at the first point and a second image captured at the secondpoint may have an overlapping area.

The controller 850 may control a single monocular camera to photographthe overlapping area at the first point and the second point which aredifferent from each other, thereby achieving an effect as if a stereoimage is acquired by the stereo camera, in the overlapping area.

For the same object, the first image captured at the first point and thesecond image captured at the second point by the monocular camera mayhave a parallax according to the observation position.

The controller 850 may detect the object O around the vehicle 100through the image processing of the first image and the second image.

The image processing may be an image processing for generating athree-dimensional disparity map from the first image and the secondimage.

The controller 850 may detect the object O by comparing the generateddisparity map with stored information.

The controller 850 may measure the distance between the object O and thevehicle 100, based on the information related to the detected object O.

The controller 850 may acquire distance information and speedinformation between the object O and the vehicle 100 based on disparitymap information generated through image processing.

The driving assistance system 800 may provide an effect of using astereo camera even though a monocular camera is used, thereby achievinga low cost and a high efficiency.

Further, the driving assistance system 800 has an advantage that thedistance to the object O may be measured even when the vehicle isstopped.

In some examples, the driving assistance system 800 may add a newoperation to the controller 850 by using a camera which is provided inthe vehicle for the purpose of AVM, thereby detecting the distance ofthe object O by software without adding a separate apparatus.

The controller 850 may generate a route for the vehicle 100 to departfrom a parked state, based on the information related to the object O.

The information related to the object O may include at least one ofdistance information between the vehicle and the object O and relativespeed information related to the vehicle with respect to the object O.

The controller 850 may receive the navigation information from thenavigation system 770 and may generate a route for a vehicle to departfrom a parked state, for example, based on the navigation information.

The controller 850 may receive a signal from an external device throughthe communication unit 400 and generate the route of vehicle, forexample, based on the information provided through the communicationunit 400.

The controller 850 may generate a route through which the vehicle 100steers to a vacant space to perform parking out, when the object Oexists in a space occupied by the vehicle 100 when traveling straight.

The case where the vehicle 100 travels straight may include a case wherethe vehicle travels straight forward and a case where the vehicletravels straight backward.

The space occupied by the vehicle 100 when traveling straight may be aspace through which the straight traveling vehicle 100 passes in athree-dimensional space.

The space occupied by the vehicle 100 when traveling straight may be aspace through which a cross section that has the largest area among thecross section perpendicular to the traveling direction of the vehicle100 passes in a three-dimensional space while the vehicle 100 travelsstraight.

The space occupied by the vehicle 100 when traveling straight may be aspace through which the exterior of the vehicle 100 passes while thevehicle 100 travels straight. The space occupied by the vehicle 100 whentraveling straight may be a space required for the vehicle 100 to passunhindered. When the object O exists in the space occupied by thevehicle 100 when traveling straight, the vehicle 100 may collide withthe object O when traveling straight.

The controller 850 may generate a route in which the vehicle 100 movesbackward to perform parking out, when the object O exists in a spaceoccupied by the vehicle 100 when moving forward.

The space occupied by the vehicle 100 when moving forward may be a spacethrough which the forward moving vehicle 100 passes in athree-dimensional space.

The space occupied by the vehicle 100 when moving forward may be a spacethrough which a cross section that has the largest area among crosssections perpendicular to the traveling direction of the vehicle 100passes in a three-dimensional space while the vehicle 100 moves forward.

The space occupied by the vehicle 100 when moving forward may be a spacethrough which the exterior of the vehicle 100 passes while the vehicle100 moves forward. The space occupied by the vehicle 100 when movingforward may be a space required for the vehicle 100 to pass unhindered.When the object O exists in the space occupied by the vehicle 100 whenmoving forward, the vehicle 100 may collide with the object O whenmoving forward.

The controller 850 may determine whether the vehicle is able to performparking out by moving forward. When it is determined that the vehicle isnot able to perform parking out by moving forward, the controller 850may determine whether the vehicle is able to perform parking out bymoving backward.

When determining whether the vehicle is able to perform parking out bymoving forward, the controller 850 may determine whether the vehicle isable to perform parking out by traveling straight.

When it is determined that the vehicle is not able to perform parkingout by traveling straight, the controller 850 may determine whether thevehicle is able to perform parking out while steering.

The controller 850 may set a mode for a vehicle to depart from a parkedstated. The controller 850 may generate a route for a vehicle to departfrom a parked state, based on the mode. The controller 850 may controlthe interface 870 to provide a signal to the vehicle 100 drivingapparatus so that the vehicle 100 may travel along the parking outroute.

For example, the parking out mode may include a parking out method and aparking out direction. The parking out method may include a right angleparking out and a parallel parking out of the vehicle 100. The parkingout direction may include the left front direction, left rear direction,right front direction, and right rear direction of the vehicle 100.

The controller 850 may set the parking out mode, based on theinformation related to the object O.

The controller 850 may determine the parking state of the vehicle amonga plurality of parking states including a left side parallel parking, aright side parallel parking, a front side parking, and a rear sideparking, based on the information related to the object O.

The left side flat parking may be a flat parking which is performed bysteering the vehicle to the left when the vehicle enters a parkingspace. The right side flat parking may be a flat parking which isperformed by steering the vehicle to the right when the vehicle enters aparking space.

The front side parking may be a right angle parking which is performedby the vehicle when the front side of the vehicle faces the parkingspace at the time of entering a parking space. The rear side parking maybe a right angle parking which is performed by the vehicle when the rearside of the vehicle faces the parking space at the time of entering aparking space.

The parking state may include a diagonal parking, and may include otherparking methods in addition to the above-mentioned parking.

The controller 850 may determine the parking out method, based on theresult of determining the parking state of the vehicle. The controller850 may determine the parking out direction, based on the informationrelated to the object O and the parking out method.

The controller 850 may primarily determine the possible parking outdirection based on the parking out method, and may secondarily determinethe possible parking out direction based on the information related tothe object O. The controller 850 may firstly exclude the parking outdirection which is not possible based on the parking out method, andthen determine the possible parking out direction based on theinformation related to the object O, so that the parking out mode can bedetermined without repeating the same operation.

The controller 850 may control at least one unit provided in the vehicle100 based on the information related to the object O located on theroute. The controller 850 may control at least one unit provided in thevehicle 100, based on the distance to the object O located on the route.

The driving assistance system 800 configured as described above has anadvantage of improving the user's convenience by quickly and accuratelygenerating a route.

The controller 850 may control the interface 870 to provide a signal tothe mirror driving unit 670 so that the side mirror 110 is folded whenthe vehicle 100 approaches the object O and is unfolded when the vehicle100 moves away from the object O, based on the information related tothe object O located on the route.

The controller 850 may generate a route as a route determined to be ableto pass in a state where the side mirror 110 is folded when generatingthe route.

The driving assistance system 800 configured as described above maygenerate a route capable of providing a route for the vehicle to passthrough while folding the side mirror 110, thereby generating the route.Further, the driving assistance system 800 may control the side mirror110 to be folded when the object O approaches, thereby lowering thepossibility of collision of the vehicle 100.

The controller 850 may control the interface 870 to provide a signal tothe power train driving unit 610, based on the information related tothe object O located on the route, so that the speed of the vehicle 100may decrease when the vehicle 100 approaches the object O and the speedof the vehicle 100 may increase when the vehicle 100 moves away from theobject O.

When the distance between the vehicle 100 and the object O is long, therisk of collision may be low even if the accuracy of the sensinginformation is relatively low. However, when the distance between thevehicle 100 and the object O is short, the accuracy of the sensinginformation needs to be high.

The controller 850 may increase the number of times of sensing until thevehicle 100 passes the object O by reducing the speed of the vehicle 100when approaching the object O, thereby reducing the risk of collisionbetween the vehicle 100 and the object O.

The controller 850 may generate a route for the vehicle 100 depart froma parked state ranging to the pickup position where the driver's seatdoor of the vehicle 100 can be opened up to a preset amount of opening.

The preset amount of opening may be an amount of opening to the extentthat a driver can get in the vehicle through the driver's seat door, andmay be a value pre-stored in the memory.

The preset amount of opening may be a value set according to drivercharacteristics. The driver's characteristics may include driver's bodyshape, and preference for the amount of opening.

The preset amount of opening may be a value set based on the record ofthe opening of the driver's seat door by the driver.

The controller 850 may control the interface 870 to provide a signal tothe door driving unit 631 so that the vehicle 100 may be stopped afterthe vehicle 100 reaches the pickup position and the driver's seat doormay be opened.

The controller 850 may generate a route for the vehicle 100 to departfrom a parked state ranging to the pickup position where the driver'sseat door of the vehicle 100 can be opened up to a preset amount ofopening, when receiving only a parking out trigger signal withoutreceiving a separate destination from the user.

The controller 850 may control the vehicle to autonomously performparking out to the pickup position. The controller 850 may control thevehicle to stop when reaching the pickup position. The controller 850may control the interface 870 to provide a signal to the door drivingunit 631 so that the driver's seat door is opened when the vehiclereaches the pickup position and the vehicle stops.

The controller 850 may control the vehicle to autonomously performparking out to the pickup position when it is possible to autonomouslyperform parking out to the pickup position in some section, even if itis not possible to autonomously perform parking out in the entire routeof the route ranging from the parking location to the pickup position,

The controller 850 may set the amount of opening of the vehicle door,based on the information related to the object O. The controller 850 maycontrol the interface 870 to provide a signal to the door driving unit631 of the vehicle 100 so that the door of the vehicle 100 is opened bythe amount of opening.

The vehicle door may be any one of doors provided in the vehicleincluding the front door, rear door and trunk door of the vehicle.

The controller 850 may set the amount of opening of the vehicle door,based on the distance between the vehicle 100 and the object O.

The controller 850 may set the amount of door opening of the vehicle100, based on the distance information between the door of the vehicle100 and the object O.

When the amount of opening of the vehicle door is set based on thedistance between the vehicle 100 and the object O, the amount of openingmay be limited as the distance between the vehicle 100 and the object Ois short depending on the parking state of the adjacent vehicle eventhough there is a space for the vehicle door to be further opened.

The controller 850 may set the amount of opening of the vehicle door,based on the distance between the vehicle door and the object O, in athree-dimensional space. The controller 850 may set the amount ofopening of the vehicle door, based on real-time distance informationmeasured by processing the image captured while the vehicle door isopened.

Such a controlling controller 850 may prevent a collision with theobject O and maximize the amount of opening of the vehicle door, therebyimproving the convenience of the user.

The controller 850 may measure the distance to the object O approachingthe vehicle 100, based on the information related to the object O.

The controller 850 may control the interface 870 to provide a signal tothe door driving unit 631 of the vehicle 100 so as to close the door,when the object O approaches within a certain distance from the door.

The controller 850 may control the door to be closed, based on the speedof the object O.

When the door is closed based on the information related to the objectO, the controller 850 may control the door to be closed, based on aresult of determining whether the passenger is getting off.

Such a controlling controller 850 may prevent a collision with theobject O in a dangerous situation while securing the safety of thepassenger.

The controller 850 may control the display 830 so that the imagecaptured by the camera 810 may be displayed.

The controller 850 may control the display 830 so that the area wherethe distance is measured may be displayed differently from the areawhere the distance is not measured.

The controller 850 may control the display 830 so that the imagecaptured by the camera 810 is displayed and the area where the distanceis measured may be displayed differently from the area where thedistance is not measured as the distance between the object O and thevehicle 100 is measured by the controller 850.

The controller 850 may display the image relating to the object O beforethe distance from the vehicle is measured on the display. The controller850 may control the area where the distance is measured in the imagedisplayed on the display to be displayed differently from the area wherethe distance is not measured.

The controller 850 may control the area where the distance is measuredto be displayed differently from the area where the distance is notmeasured, through the image processing.

The controller 850 may control the display 830 so that the imagedisplayed on the display may be gradually changed as the area where thedistance is measured is gradually expanded.

The controller 850 may control the display 830 so that the imagedisplayed on the display 830 may be displayed to be directional, inresponse to the direction in which the mounting apparatus is rotated.

The controller 850 may control the image displayed on the display 830 tobe gradually displayed in the direction in which the side mirror 110 isrotated.

The case where the front door 105 is rotated and the captured image isdisplayed on the display 830 may be understood similarly to the case ofthe side mirror.

Thus, the controller 850 may control the display 830 in a user-friendlymanner.

The controller 850 may control the display 830 so that the dynamicinformation of the object O may be superimposed on the image captured bythe camera 810.

The controller 850 may control the display 830 to display the dynamicinformation of the object O, based on the information related to theobject O. The dynamic information of the object O may include at leastone of the distance between the vehicle and the object O, the speed ofthe object O, and the acceleration of the object O.

The controller 850 may control the display 830 so that at least one ofthe image captured by the camera 810 and the information generated bythe image processing of the image captured by the camera 810 may bedisplayed on the display 830.

The controller 850 may detect the object O around the vehicle 100 andmeasure the distance between the object O and the vehicle 100 throughimage processing of the image captured by the camera 810. Theinformation generated through the image processing of the image capturedby the camera 810 may be dynamic information of the object O.

The dynamic information of the object O may include at least one of thedistance between the vehicle and the object O, the speed of the objectO, the relative speed of the object O to the vehicle 100, theacceleration of the object O, and the relative acceleration of theobject O to the vehicle 100.

The interface 870 may serve as a passage to various types of externaldevices connected to the driving assistance system 800.

The interface 870 may serve as a passage for supplying electrical energyto the connected mobile terminal. When the mobile terminal iselectrically connected to the interface 870, the interface 870 mayprovide the mobile terminal with electric energy supplied from the powersupply unit 890 under the control of the controller 850.

The interface 870 may be the interface 130. The interface 870 may beprovided in the driving assistance system 800 separately from theinterface 130.

The power supply unit 890 may supply power necessary for the operationof each component under the control of the controller 850. For example,the power supply unit 890 may receive power from a battery or the likeinside the vehicle.

The power supply unit 890 may be the power supply unit 190. The powersupply unit 890 may be provided in the driving assistance system 800separately from the power supply unit 190.

FIG. 9 is a control flowchart illustrating an example driving assistancesystem.

First, the camera 810 may rotate at the same angular speed as themounting apparatus, and may capture an external image of the vehicle 100at a first point and a second point (S910 and S920).

The camera 810 may capture the external image of the vehicle 100 at thefirst point, which is one point on a trajectory drawn by the camera 810while the camera 810 b rotates, and a second point which is anotherpoint.

The camera 810 may capture the external image of the vehicle 100 at thefirst point where the camera is located when the mounting apparatusstarts to rotate and at the second point where the camera is locatedwhen the mounting apparatus finishes rotating.

The camera 810 may capture the external image of the vehicle 100 at aplurality of points including the first point and the second point.

The camera 810 may successively photograph the external image of thevehicle 100 while the camera 810 rotates from the first point to thesecond point.

At this time, the controller 850 may control the camera 810 so that afirst image captured at the first point and a second image captured atthe second point may have an overlapping area.

Next, the controller 850 may perform an image processing of the firstimage and the second image (S930).

The image processing may be an image processing for generating athree-dimensional disparity map from the first image and the secondimage. The image processing for generating the disparity map will bedescribed in more detail below.

Next, the controller 850 may detect the object O around the vehicle 100through the image processing of the first image and the second image(S940).

The controller 850 may detect the object O by comparing the generateddisparity map with stored information.

In some examples, the controller 850 may measure the distance betweenthe object O and the vehicle 100, based on the information related tothe detected object O (S940).

The controller 850 may acquire distance information and speedinformation between the object O and the vehicle 100, based on disparitymap information generated through the image processing.

In some implementations, the controller 850 may generate the route forthe vehicle 100 to depart from a parked state, based on the informationrelated to the object O (S950).

The information related to the object O may include at least one of thedistance information between the vehicle and the object O and therelative speed information of the object O with respect to the vehicle.The generation of route will be described in detail below.

In some implementations, the controller 850 may set the amount ofopening of the vehicle door, based on the information related to theobject O.

The controller 850 may control the interface 870 to provide a signal tothe door driving unit 631 of the vehicle 100 so that the door of thevehicle 100 may be opened by the amount of opening (S960). The doorcontrol will be described in detail below.

In some examples, the controller 850 may control the display 830 todisplay the image captured by the camera 810 (S970). The display controlwill be described in detail below.

FIG. 10 is a diagram illustrating example rotation of an example camera810 b.

Referring to FIG. 10, the camera 810 b may rotate at the same angularspeed as the side mirror 110 b, and may capture an external image of thevehicle 100 at a first point A1010 and a second point A1020.

The camera 810 b may capture the external image of the vehicle 100 atthe first point A1010 where the camera 810 b is located when the sidemirror 110 b starts to rotate and at the second position A1020 where thecamera 810 b is located when the side mirror 110 b finishes rotating.

For example, the first point A1010 may be a point on a trajectory drawnby the camera 810 b disposed on the side mirror 110 b while the camera810 b rotates. The first point A1010 may be a point where the camera 810b is located in a state where the side mirror 110 b is folded.

The second point A1020 may be a point on a trajectory drawn by thecamera 810 b disposed on the side mirror 110 b while the camera 810 brotates. The second point A1020 may be a point where the camera 810 b islocated in a state where the side mirror 110 b is unfolded.

Referring to FIG. 10, for example, the side mirror 110 b may beunfolded, and the camera 810 b may capture the external image of thevehicle 100 at the first point A1010 and the second point A1020.

A range A1040 of photographing by the camera 810 b may be widened inproportion to the radius of rotation of the camera 810 b. The rangeA1040 of photographing by the camera 810 b may cover an area from oneside of the vehicle 100 to a certain distance. The range A1040 ofphotographing by the camera 810 b may cover a part of the rear of thevehicle 100.

For example, the camera 810 b may capture the external image of thevehicle 100 at the first point A1010 and the second point A1020, whilethe side mirror 110 b is folded.

The controller 850 may control the camera 810 b so that the first imagecaptured at the first point A1010 and the second image captured at thesecond point A1020 may have an overlapping area.

FIG. 11 is a diagram illustrating example rotation of an example camera810 b.

Referring to FIG. 11, the camera 810 b may rotate at the same angularspeed as the side mirror 110 b, and may capture an external image of thevehicle 100 at a first point A 1110 and a second point A 1120.

The camera 810 b may capture the external image of the vehicle 100 atthe first point A1110 where the camera 810 b is located when the sidemirror 110 b starts to rotate and at the second position A1120 where thecamera 810 b is located when the side mirror 110 b finishes rotating.

Here, the first point A1110 may be a point on a trajectory drawn by thecamera 810 b disposed on the side mirror 110 b while the camera 810 brotates. The first point A1110 may be a point where the camera 810 b islocated in a state where the front door 105 b is opened and the sidemirror 110 b is folded.

For example, the second point A1120 may be a point on a trajectory drawnby the camera 810 b disposed on the side mirror 110 b while the camera810 b rotates. The second point A1120 may be a point where the camera810 b is located in a state where the front door 105 b is opened and theside mirror 110 b is unfolded.

Referring to FIG. 11, for example, in a state where the front door 105 bis opened, the side mirror 110 b may be unfolded, and the camera 810 bmay capture the external image of the vehicle 100 at the first pointA1110 and the second point A1120.

At this time, a range A1140 of photographing by the camera 810 b may bewidened in proportion to the radius of rotation of the camera 810 b. Therange A1140 of photographing by the camera 810 b may cover an area fromone side of the vehicle 100 to a certain distance. The range A1140 ofphotographing by the camera 810 b may cover a part of the rear of thevehicle 100. The range A1140 of photographing by the camera 810 b maycover a part of the front of the vehicle 100.

The range A1140 of photographing by the camera 810 b while the sidemirror 110 b rotates in a state where the front door 105 b is opened maycover the front area of the vehicle more than the range A1040 ofphotographing by the camera 810 b while the side mirror 110 b rotates ina state where the front door 105 b is closed.

For another example, in a state where the front door 105 b is opened,the side mirror 110 b may be folded, and the camera 810 b may capturethe external image of the vehicle 100 at the first point A1110 and thesecond point A1120.

At this time, the controller 850 may control the camera 810 b so thatthe first image captured at the first point A1110 and the second imagecaptured at the second point A1120 may have an overlapping area.

FIG. 12 is a diagram illustrating example rotation of an example camera810 b.

Referring to FIG. 12, the camera 810 b may rotate at the same angularspeed as the front door 105 b, and may capture an external image of thevehicle 100 at a first point A1210 and a second point A1220.

The camera 810 b may capture the external image of the vehicle 100 atthe first point A1210 where the camera 810 b is located when the frontdoor 105 b starts to rotate and at the second position A1220 where thecamera 810 b is located when the front door 105 b finishes rotating.

For example, the first point A1210 may be a point on a trajectory drawnby the camera 810 b while unfolding the front door 105 b. The firstpoint A1210 may be a point where the camera 810 b is located in a statewhere the front door 105 b is folded.

The second point A1220 may be a point on a trajectory drawn by thecamera 810 b while unfolding the front door 105 b. The second pointA1220 may be a point where the camera 810 b is located in a state wherethe front door 105 b is opened.

Referring to FIG. 12, for example, the front door 105 b may be unfolded,and the camera 810 b may capture the external image of the vehicle 100at the first point A1210 and the second point A1220.

At this time, a range A1240 of photographing by the camera 810 b may bewidened in proportion to the radius of rotation of the camera 810 b. Therange A1240 of photographing by the camera 810 b may cover an area fromone side of the vehicle 100 to a certain distance. The range A1240 ofphotographing by the camera 810 b may cover a part of the rear of thevehicle 100. The range A1240 of photographing by the camera 810 b maycover a part of the front of the vehicle 100.

The range A1240 of photographing by the camera 810 b while the frontdoor 105 b rotates may cover the front area of the vehicle more than therange A1040 of photographing by the camera 810 b while the side mirror110 b rotates.

For another example, the camera 810 b may capture the external image ofthe vehicle 100 at the first point A1210 and the second point A1220,while the front door 105 b is folded.

At this time, the controller 850 may control the camera 810 b so thatthe first image captured at the first point A1210 and the second imagecaptured at the second point A1220 may have an overlapping area.

In some implementations, when the camera 810 b captures an image whilethe front door 105 b and the side mirror 110 b rotate simultaneously, awider range of image can be captured than a case where the camera 810 bcaptures an image while the front door 105 or the side mirror 110 brotates.

FIG. 13 is a diagram illustrating an example image processing of anexample driving assistance system.

Referring to FIG. 13, the camera 810 may rotate at the same angularspeed as the side mirror 110, and may capture the external image of thevehicle 100 at a first point A1310 and a second point A1320.

For example, the first point may be a point where the camera 810 islocated in a state where the side mirror 110 is unfolded.

The second point may be a point where the camera 810 is located in astate where the side mirror 110 is folded.

The controller 850 may control the camera 810 so that the first imageA1315 captured at the first point A1310 and the second image A1325captured at the second point A1320 may have an overlapping area A1335.

At this time, the first image A1315 and the second image A1325 may havea parallax according to the observation position with respect to theobject OB1310 located in the overlapping area A1335.

The controller 850 may perform image processing for generating adisparity map from the first image A 1315 and the second image A1325.

The disparity map may be an image processing method for acquiringthree-dimensional information from two-dimensional image information.

The controller 850 may detect the object OB1310 by comparing thegenerated disparity map with the stored information.

The controller 850 may measure the distance between the object OB1340and the vehicle 100, based on the information related to the detectedobject OB1340.

The controller 850 may acquire distance information and speedinformation between the object OB 1340 and the vehicle 100, based on thedisparity map information generated through the image processing.

FIG. 14A and FIG. 14B are diagrams illustrating generation of an exampleroute.

The camera 810 may rotate at the same angular speed as the side mirror110 and may capture the external image of the vehicle 100 at a firstpoint and a second point.

For example, the first point may be a point where the camera 810 islocated in a state where the side mirror 110 is folded.

The second point may be a point where the camera 810 is located in astate where the side mirror 110 is unfolded.

The controller 850 may control the camera 810 so that a first imagecaptured at the first point and a second image captured at the secondpoint may have an overlapping area.

Referring to FIG. 14A, the controller 850 may detect an object (OB1410,OB1411, and OB1412) around the vehicle, through the image processing ofthe first image and the second image captured in a stopped state.

The controller 850 may measure the distance between each of the objectsOB1410, OB1411 and OB1412 and the vehicle 100, based on the informationrelated to the detected object OB1410, OB1411 and OB1412.

The controller 850 may determine whether the object O exists in thespace occupied by the vehicle 100 when traveling straight.

For example, the controller 850 may determine whether the object Oexists in the space occupied by the vehicle 100 when traveling straight,based on the cross section having the largest area among the crosssection perpendicular to the traveling direction of the vehicle 100.

The controller 850 may determine whether the object O exists in thespace occupied by the vehicle 100 when traveling straight by movingforward. When the object O exists in the space, the controller 850 maydetermine whether the object O exists in the space occupied by thevehicle 100 when traveling straight by moving backward.

The controller 850 may generate a route through which the vehicle 100steers to an empty space and performs parking out, when the object Oexists in the space occupied by the vehicle 100 when traveling straight.

The controller 850 may generate a route A1430 through which the vehicle100 travels straight by moving forward to perform parking out, when itis determined that the object O does not exist in the space occupied bythe vehicle 100 at the time of moving straight forward.

Referring to FIG. 14B, the controller 850 may detect the object (OB1420,OB1421, OB1422, OB1423, OB1424) around the vehicle, through the imageprocessing of the image captured in the stopped state.

The controller 850 may measure the distance between the vehicle 100 andeach of the objects OB1420, OB1421, OB1422, OB1423 and OB1424, based onthe information related to the detected object OB1420, OB1421, OB1422,OB1423 and OB1424.

The controller 850 may determine whether the object O exists in thespace occupied by the vehicle 100 when traveling straight.

The controller 850 may determine whether the object O exists in thespace occupied by the vehicle 100 when traveling straight by movingforward. When the object O exists in the space, the controller 850 maydetermine whether the object O exists in the space occupied by thevehicle 100 when traveling straight by moving backward.

When it is determined that the vehicle is not able to perform parkingout by traveling straight forward or traveling straight backward, thecontroller 850 may generate a route through which the vehicle 100 steersto an empty space and performs parking out.

The controller 850 may determine whether it is possible to generate aroute to an empty space between the objects OB1423 and OB1424, when theobject OB1423 and OB1424 exist in the route through which the vehicleperforms parking out by moving forward.

The controller 850 may determine whether the object OB1423 and OB1424exists in the space occupied by the vehicle 100 when moving forward,based on the information related to the object OB1423 and OB1424.

For example, the controller 850 may determine whether the object OB1423and OB1424 exists in the space occupied by the vehicle 100 when movingforward, based on the cross section having the largest area among thecross section perpendicular to the traveling direction of the vehicle100.

When it is determined that the object OB1423 and OB1424 does not existin the space occupied by the vehicle 100 when moving forward and a routeto an empty space between the objects OB1423 and OB1424 can begenerated, the controller 850 may generate a route A1440 through whichthe vehicle 100 steers to perform parking out.

Referring to FIG. 14B, when there is a moving object OB1423, thecontroller 850 may determine whether it is possible to generate a routeto an empty space between the objects OB1423 and OB1424, based ondistance and speed information with respect to the moving object OB1423.

The controller 850 may determine whether the moving object OB1423 entersinto the space occupied when moving forward and the entering time, basedon the distance and the speed information with respect to the movingobject OB1423.

The controller 850 may determine whether it is possible to generate aroute to an empty space between the objects OB1423 and OB1424, based oninformation on whether the moving object OB1423 enters into the spaceoccupied when moving forward and the entering time.

The controller 850 may generate a route A1440 through which the vehicle100 steers to perform parking out, when it is determined that it ispossible to generate a route to an empty space between the objectsOB1423 and OB1424.

FIG. 15A and FIG. 15B are diagrams illustrating generation of an exampleroute.

The camera 810 may rotate at the same angular speed as the side mirror110 and may capture the external image of the vehicle 100 at a firstpoint and a second point.

For example, the first point may be a point where the camera 810 islocated in a state where the side mirror 110 is folded.

The second point may be a point where the camera 810 is located in astate where the side mirror 110 is unfolded.

The controller 850 may control the camera 810 so that a first imagecaptured at the first point and a second image captured at the secondpoint may have an overlapping area.

Referring to FIG. 15A, the controller 850 may detect an object (OB1510,OB1511, and OB1512) around the vehicle, through the image processing ofthe first image and the second image captured in a stopped state.

The controller 850 may measure the distance between each of the objectsOB1510, OB1511, and OB1512 and the vehicle 100, based on the informationrelated to the detected object OB1510, OB1511, and OB1512.

The controller 850 may determine whether the object O exists in thespace occupied by the vehicle 100 when moving forward.

For example, the controller 850 may determine whether the object Oexists in the space occupied by the vehicle 100 when moving forward,based on the cross section having the largest area among the crosssection perpendicular to the traveling direction of the vehicle 100.

The controller 850 may determine whether the object O exists in thespace occupied by the vehicle 100 when moving forward. When the object Oexists in the space, the controller 850 may determine whether the objectO exists in the space occupied by the vehicle 100 when moving backward.

The controller 850 may generate a route A1530 through which the vehicle100 moves forward to perform parking out, when it is determined that theobject O does not exist in the space occupied by the vehicle 100 at thetime of moving forward.

Referring to FIG. 15B, the controller 850 may detect the object (OB1520,OB1521, OB1522, and OB1523) around the vehicle, through the imageprocessing of the image captured in a stopped state.

The controller 850 may measure the distance between the vehicle 100 andeach of the objects OB1520, OB1521, OB1522, and OB1523, based on theinformation related to the detected object OB1520, OB1521, OB1522, andOB1523.

The controller 850 may determine whether the object O exists in thespace occupied by the vehicle 100 when moving forward.

The controller 850 may generate a route A1540 through which the vehicle100 moves backward to perform parking out, when it is determined thatthe object O exists in the space occupied by the vehicle 100 when movingforward.

Referring to FIG. 15B, when there is a moving object OB1523, thecontroller 850 may determine whether it is possible to generate a routeto an empty space between the objects OB1522 and OB1523, based ondistance and speed information with respect to the moving object OB1523.

The controller 850 may determine whether the moving object OB1523 entersinto the space occupied when moving forward and the entering time, basedon the distance and the speed information with respect to the movingobject OB1523.

The controller 850 may determine whether it is possible to generate aroute to an empty space between the objects OB1522 and OB1523, based oninformation on whether the moving object OB1523 enters into the spaceoccupied when moving forward and the entering time.

The controller 850 may generate a route A1540 through which the vehicle100 moves backward to perform parking out, when it is determined that itis not possible to generate a route to an empty space between theobjects OB1525 and OB1523.

FIGS. 16A, 16B and 16C are diagrams illustrating an example control ofan example side mirror.

The camera 810 may rotate at the same angular speed as the side mirror110 and may capture the external image of the vehicle 100 at a firstpoint and a second point.

For example, the first point may be a point where the camera 810 islocated in a state where the side mirror 110 is folded.

The second point may be a point where the camera 810 is located in astate where the side mirror 110 is unfolded.

The controller 850 may control the camera 810 so that a first imagecaptured at the first point and a second image captured at the secondpoint may have an overlapping area.

Referring to FIG. 16A, the controller 850 may detect an object (OB1610,OB1611, and OB1612) around the vehicle, through the image processing ofthe first image and the second image captured in a stopped state.

The controller 850 may measure the distance between each of the objectsOB1610, OB1611, and OB1612 and the vehicle 100, based on the informationrelated to the detected object OB1610, OB1611, and OB1612.

The controller 850 may generate a route for the vehicle 100 to departfrom a parked state, based on the information related to the objectOB1610, OB1611, and OB1612.

The controller 850 may generate a route between other vehicles OB1611and OB1612, when the other vehicles OB1611 and OB1612 intrude into andare parked on a parking line OB1610 in which the vehicle 100 is parked.

The controller 850 may generate a route as a route determined to be ableto pass in a state where the side mirror 110 is folded, when generatingthe route.

The controller 850 may control the interface 870 to provide a signal tothe power train driving unit 610 so that the vehicle 100 may travel at aconstant speed A1630 along the generated route.

Referring to FIG. 16B, in case the distance between the vehicle 100 andthe other vehicles OB1611 and OB1612 is less than a set value when thevehicle 100 travels along the generated route, the controller 850 maycontrol the interface 870 to provide a signal to the mirror driving unit670 so that the side mirror 110 of the vehicle 100 may be folded whenthe distance to the other vehicles OB1611 and OB1612 is less than theset value.

Referring to FIG. 16C, when the vehicle 100 continues to travel alongthe generated route and the distance between the vehicle 100 and theother vehicles OB1611 and OB1612 is equal to or greater than a setvalue, the controller 850 may control the interface 870 to provide asignal to the mirror driving unit 670 so that the side mirror 110 of thevehicle 100 may be unfolded.

In some implementations, although not shown, when there is other vehicleOB1611 approaching the generated route, the controller 850 may controlthe interface 870 to provide a signal to the mirror driving unit 670 sothat the side mirror 110 of the vehicle 100 may be folded when thedistance to the other vehicle OB1611 is less than the set value.

When the other vehicle OB1611 continues to travel and the distancebetween the vehicle 100 and the other vehicle OB1611 is equal to orgreater than a set value, the controller 850 may control the interface870 to provide a signal to the mirror driving unit 670 so that the sidemirror 110 of the vehicle 100 may be unfolded.

FIGS. 17A, 17B and 17C are diagrams illustrating an example speedcontrol of a vehicle.

The camera 810 may rotate at the same angular speed as the side mirror110 and may capture the external image of the vehicle 100 at a firstpoint and a second point.

For example, the first point may be a point where the camera 810 islocated in a state where the side mirror 110 is folded.

The second point may be a point where the camera 810 is located in astate where the side mirror 110 is unfolded.

The controller 850 may control the camera 810 so that a first imagecaptured at the first point and a second image captured at the secondpoint may have an overlapping area.

Referring to FIG. 17A, the controller 850 may detect an object (OB1710,OB1711, and OB1712) around the vehicle, through the image processing ofthe first image and the second image captured in a stopped state.

The controller 850 may measure the distance between each of the objectsOB1710, OB1711, and OB1712 and the vehicle 100, based on the informationrelated to the detected object OB1710, OB1711, and OB1712.

The controller 850 may generate a route for the vehicle 100 to departfrom a parked state, based on the information related to the objectOB1710, OB1711, and OB1712.

The controller 850 may generate a route between other vehicles OB1711and OB1712, when the other vehicles OB1711 and OB1712 intrude into andare parked on a parking line OB1710 in which the vehicle 100 is parked.

The controller 850 may control the interface 870 to provide a signal tothe power train driving unit 610 so that the vehicle 100 may travel at aconstant speed A1731 along the generated route.

Referring to FIG. 17B, in case the distance between the vehicle 100 andthe other vehicles OB1711 and OB1712 is less than a set value when thevehicle 100 travels along the generated route, the controller 850 maycontrol the interface 870 to provide a signal to the power train drivingunit 610 so that the vehicle 100 may travel at a reduced speed A1732when the distance to the other vehicles OB1711 and OB1712 is less thanthe set value.

The controller 850 may control the interface 870 to provide a signal tothe power train driving unit 610 so that the deceleration of the vehicle100 may be started at the time when the distance between the vehicle andthe other vehicles OB1711 and OB1712 is less than the set value.

Referring to FIG. 17C, when the vehicle 100 continues to travel alongthe generated route and the distance between the vehicle 100 and theother vehicles OB1711 and OB1712 is equal to or greater than a setvalue, the controller 850 may control the interface 870 to provide asignal to the power train driving unit 610 so that the vehicle 100 mayaccelerate to travel at an increased speed A1733

The controller 850 may control the interface 870 to provide a signal tothe power train driving unit 610 so that the vehicle 100 may start toaccelerate at the time when the distance between the vehicle and theother vehicles OB1711 and OB1712 is equal to or greater than the setvalue.

In some implementations, although not shown, when there is other vehicleOB1711 approaching the generated route, the controller 850 may controlthe interface 870 to provide a signal to the power train driving unit610 so that the vehicle 100 may be decelerated when the distance to theother vehicle OB1611 is less than the set value.

When the other vehicle OB1711 continues to travel and the distancebetween the vehicle 100 and the other vehicle OB1711 is equal to orgreater than a set value, the controller 850 may control the interface870 to provide a signal to the power train driving unit 610 so that thevehicle 100 may be decelerated.

FIG. 18 is a diagram illustrating an example vehicle moving out from aparking space and an example door control of the vehicle.

The camera 810 may rotate at the same angular speed as the side mirror110 and may capture the external image of the vehicle 100 at a firstpoint and a second point.

For example, the first point may be a point where the camera 810 islocated in a state where the side mirror 110 is folded.

The second point may be a point where the camera 810 is located in astate where the side mirror 110 is unfolded.

The controller 850 may control the camera 810 so that a first imagecaptured at the first point and a second image captured at the secondpoint may have an overlapping area.

Referring to FIG. 18, the controller 850 may detect an object (OB1810,OB1811, OB1812, OB1813, and OB1814) around the vehicle, through theimage processing of the first image and the second image captured in astopped state.

The controller 850 may measure the distance between each of the objectsOB1810, OB1811, OB1812, OB1813, and OB1814 and the vehicle 100, based onthe information related to the detected object OB1610, OB1611, andOB1612.

The controller 850 may generate a route for the vehicle 100 to departfrom a parked state, based on the information related to the objectOB1810, OB1811, OB1812, OB1813, and OB1814.

The controller 850 may generate a route as a vacant space between aplurality of objects OB 1810, OB 1811, OB 1812, OB 1813, OB 1814.

The controller 850 may generate a route A1840 of the vehicle 100 rangingfrom a parking position A1821 of the vehicle 100 to a pickup positionA1822 where a driver P can ride.

The pickup position A1822 may be a position where the driver's seat door105 a of the vehicle 100 may be opened up to a preset amount of opening.

The controller 850 may control the interface 870 to provide a signal tothe power train driving unit 610 so that the vehicle 100 may travel tothe pickup position A1822 and then stop.

The controller 850 may control the interface 870 to provide a signal tothe door driving unit 631 so that the driver's seat door 105 a may beopened at the pickup position A1822.

For example, even if it is not possible to autonomously perform parkingout in an entire section of a full route including the route A1840corresponding to a section ranging from the parking position A1821 ofthe vehicle 100 to the pickup position A1822, when it is possible toautonomously perform parking out in a certain section of the full routecorresponding to the route A1840, the controller 850 may control thevehicle driving device 600 so that the vehicle 100 may autonomouslyperform parking out along the generated route A1840.

For example, when only a parking out trigger signal is input without aseparate destination input from the user, the controller 850 maygenerate the route A1840 ranging from the parking position A1821 of thevehicle 100 to the pickup position A1822.

FIG. 19 is a diagram illustrating an example door control.

The camera 810 may rotate at the same angular speed as the front door105 and may capture the external image of the vehicle 100 at a firstpoint and a second point.

For example, the first point may be a point where the camera 810 islocated in a state where the front door 105 is closed.

The second point may be a point where the camera 810 is located in astate where the front door 105 is opened.

The controller 850 may control the camera 810 so that a first imagecaptured at the first point and a second image captured at the secondpoint may have an overlapping area.

Referring to FIG. 19, the controller 850 may detect other vehicleOB1910, through the image processing of the first image and the secondimage captured in a stopped state.

The controller 850 may set an amount of door opening A1910, based on theinformation related to the other vehicle OB1910.

The controller 850 may set the amount of door opening of the vehicle100, based on the distance information between the door 105 of thevehicle 100 and the other vehicle OB1910.

The controller 850 may set the amount of door opening of the vehicle100, based on three-dimensional distance information between each partof the door 105 of the vehicle 100 and the other vehicle OB1910, not ontwo-dimensional distance information between an end of the door 105 ofthe vehicle 100 and the other vehicle OB1910.

The controller 850 may set the amount of door opening of the vehicle100, by measuring the distance between the door 105 of the vehicle 100and the other vehicle OB1910 in real time, through the image processingof the first image and the second image captured by the camera 810 whilethe door 105 of the vehicle 100 is opened.

The controller 850 may control the interface 870 to provide a signal tothe door driving unit 631 of the vehicle 100 so that the door of thevehicle 100 may be opened by the amount of door opening A1910.

For example, when the user manually opens the door, the controller 850may control the door driving unit 631 so that the door may be locked soas to be opened only by the amount of door opening A1910.

For example, when the user manually opens the door, the controller 850may control the door driving unit 631 so that the user may feelresistance before the door is opened up to the amount of door openingA1910, thereby achieving a user-friendly control of the door.

For example, the controller 850 may control the vehicle door to beautomatically opened by the amount of door opening A1910.

For example, the controller 850 may control the vehicle door so that therotational speed of the door may gradually decrease to stop before thevehicle door is opened up to the amount of door opening A1910, therebyachieving a user-friendly control of the door.

The controller 850 may measure the distance between the door 105 of thevehicle 100 and the other vehicle OB1910 in real time, through the imageprocessing of the first image and the second image captured by thecamera 810 while the door 105 of the vehicle 100 is opened.

The controller 850 may control the door driving unit 631 to stop thedoor 105, when the distance between the door 105 of the vehicle 100 andthe other vehicle OB1910 is less than a set value.

FIG. 20A and FIG. 20B are diagrams illustrating an example door control.

The camera 810 may rotate at the same angular speed as the front door105 and may capture the external image of the vehicle 100 at a firstpoint and a second point.

For example, the first point may be a point where the camera 810 islocated in a state where the front door 105 is closed.

The second point may be a point where the camera 810 is located in astate where the front door 105 is opened.

The controller 850 may control the camera 810 so that a first imagecaptured at the first point and a second image captured at the secondpoint may have an overlapping area.

Referring to FIG. 20A, the controller 850 may detect a moving objectOB2010 approaching the vehicle 100, through the image processing of thefirst image and the second image.

The controller 850 may control the opening and closing of the door 105,based on a distance A2020 between the vehicle 100 and the moving objectOB2010.

For example, when the moving object OB2010 approaches within a certaindistance from the door 105, the controller 850 may control the interface870 to provide a signal to the door driving unit 631 so that the door105 may be closed.

The controller 850 may control the door 105 to close, for example, basedon the speed of the moving object OB2010.

For example, the controller 850 may control the distance between thevehicle 100, which is controlled to close the door, and the movingobject OB2010 to be increased, when the speed of the moving objectOB2010 is high, rather than the case in which the speed of the movingobject OB2010 is low.

For example, the controller 850 may control the door 105 to close morequickly, when the speed of the moving object OB2010 is high rather thanthe case in which the speed of the moving object OB2010 is low.

Referring to FIG. 20B, the controller 850 may control the opening andclosing of the door 105, based on a distance A2030 between the vehicle100 and the moving object OB2010.

For example, the controller 850 may control the door 105 to close justonly to the extent that collision with the moving object OB2010 can beavoided, without closing the door 105 completely.

For example, the controller 850 may calculate a location when the movingobject OB2010 is closest to the door 105, and control an amount ofclosing of the door 105, based on the information related to thedistance and the speed of the moving object OB2010.

When closing the door 105 based on the information related to the movingobject OB2010, the controller 850 may control the opening and closing ofthe door 105, for example, based on the result of determining whetherpassenger is getting off.

For example, when the moving object OB2010 approaches within a certaindistance from the door 105, if it is determined that the passenger isnot getting off, the controller 850 may control the door 105 to beclosed.

For example, when the moving object OB2010 approaches within a certaindistance from the door 105, if it is determined that the passenger isgetting off, the controller 850 may control the door 105 to be closedonly in a certain range.

For example, when the moving object OB2010 approaches within a certaindistance from the door 105, if it is determined that the passenger isgetting off, the controller 850 may not control the door 105 to beclosed.

FIG. 21A and FIG. 21B are diagrams illustrating an example imagedisplayed on an example display.

The camera 810 may rotate at the same angular speed as the side mirror110 and may capture the external image of the vehicle 100 at a firstpoint and a second point.

For example, the first point may be a point where the camera 810 islocated in a state A2121 in which the side mirror 110 is folded.

The second point may be a point where the camera 810 is located in astate A2122 where the side mirror 110 is unfolded.

At this time, the controller 850 may control the camera 810 so that afirst image captured at the first point and a second image captured atthe second point may have an overlapping area.

The controller 850 may detect an object OB2110 around the vehicle,through the image processing of the first image and the second image.

The controller 850 may control the display 830 so that the imagecaptured by the camera 810 may be displayed.

Referring to FIG. 21A, for example, the controller 850 may control thedisplay 830 so that a top view image viewed from above of the vehicle100 may be displayed.

The top view image of the vehicle 100 may be generated based onpre-stored information of vehicle 100.

For example, the controller 850 may control the display 830 so that animage of the object OB2110 may be displayed.

The controller 850 may control the display 830 so that the imagedisplayed on the display 830 may be displayed to be directional, inresponse to the direction in which the side mirror 110 is rotated.

For example, the controller 850 may control the image displayed on thedisplay 830 to be gradually displayed in the direction in which the sidemirror 110 is rotated.

For example, when the right side mirror 110 is unfolded and the capturedimage is displayed on the display 830, the controller 850 may controlthe display 830 so that the object OB2110 may be gradually displayed onthe display 830 from the right portion to the left portion, as thecamera 810 rotates from right to left when viewed from inside thevehicle 100.

For example, when the left side mirror 110 is unfolded and the capturedimage is displayed on the display 830, the controller 850 may controlthe display 830 so that the object OB2110 may be gradually displayed onthe display 830 from the left portion to the right portion, as thecamera 810 rotates from left to right when viewed from inside thevehicle 100.

The controller 850 may measure the distance between the object OB2110and the vehicle 100, based on the information related to the detectedobject OB2110.

The controller 850 may control the display 830 so that an area where thedistance between the vehicle 100 and the object OB2110 is measured maybe displayed differently from an area where the distance is notmeasured.

The controller 850 may control the area where the distance is measuredto be displayed differently from the area where the distance is notmeasured, through the image processing.

For example, the controller 850 may control at least one of brightness,saturation, color, and sharpness to be different so that the area wherethe distance is measured and the area where the distance is not measuredmay be displayed separately.

For example, the controller 850 may control the area where the distanceis measured to be displayed differently from the area where the distanceis not measured, by using a graphic object.

Referring to FIG. 21B, for example, the controller 850 may control thedisplay 830 to display a first graphic object A2130 covering the objectOB2110 when the distance between the vehicle 100 and the object OB2110is not measured.

The controller 850 may control the display 830 to display a secondgraphic object A2140 covering the area where the distance between thevehicle 100 and the object OB2110 is measured among an area covered bythe first graphic object A2130.

For example, as the distance between the object OB2110 and the vehicle100 is measured by the controller 850, the controller 850 may controlthe display 830 so that at least one of the location, the size, and thecolor of the graphic objects A2130 and A2140 covering the object OB2110may be changed.

For example, the controller 850 may control to display a boundary linebetween the area where the distance is measured and the area where thedistance is not measured, so that the area may be displayed separately.

For example, the controller 850 may control the display 830 so that thebrightness of the area in which the distance is measured may be brighterthan the brightness of the area before the distance is measured.

Referring to FIG. 21B, for example, the controller 850 may control thedisplay 830 so that the size of the first graphic object A2130 maygradually decrease in the direction in which the side mirror 110 rotatesand the size of the second graphic object A2140 may gradually increasein the direction in which the side mirror 110 rotates, as the distancebetween the object OB2110 and the vehicle 100 is measured by thecontroller 850.

FIG. 22 is a diagram illustrating an example image displayed on anexample display.

The camera 810 may rotate at the same angular speed as the side mirror110 and may capture the external image of the vehicle 100 at a firstpoint and a second point.

For example, the first point may be a point where the camera 810 islocated in a state where the side mirror 110 is folded.

The second point may be a point where the camera 810 is located in astate where the side mirror 110 is unfolded.

At this time, the controller 850 may control the camera 810 so that afirst image captured at the first point and a second image captured atthe second point may have an overlapping area.

The controller 850 may detect an object OB2210, OB2220, and OB2230around the vehicle, through the image processing of the first image andthe second image.

The controller 850 may measure the distance between the vehicle 100 andeach of the objects OB2210, OB2220 and OB2230, based on the informationrelated to the detected object OB2210, OB2220 and OB2230.

Referring to FIG. 22, for example, the controller 850 may control thedisplay 830 so that a top view image viewed from above of the vehicle100 may be displayed.

The top view image of the vehicle 100 may be generated based onpre-stored information of vehicle 100.

The controller 850 may control the display 830 so that an image of theobject OB2210, OB2220 and OB2230 may be displayed, based on theinformation related to the object OB2210, OB2220 and OB2230.

The controller 850 may control the display 830 so that the dynamicinformation of the objects OB2210, OB2220 and OB2230 may be superimposedon the image captured by the camera 810.

The dynamic information of the object OB2210, OB2220 and OB2230 mayinclude at least one of a distance between the vehicle and the objectOB2210, OB2220 and OB2230, a speed of the object OB2210, OB2220 andOB2230, and an acceleration of the object OB2210, OB2220 and OB2230.

For example, in the case of the object OB2210 located in front of thevehicle 100, the controller 850 may control the display 830 so that adistance A2211 from the front of the vehicle body may be displayed.

For example, in the case of the object OB2220 and OB2230 located in theside of the vehicle 100, the controller 850 may control the display 830so that a distance A2221 and A2231 from a corresponding side of thevehicle body may be displayed.

For example, in the case of the moving object OB2210 and OB2220, thecontroller 850 may control the display 830 so that the speed of themoving object OB2210 and OB2220 may be displayed by an arrow and acharacter A2212 and A2222.

For example, the controller 850 may control the display 830 so that thedynamic information of the object OB2210, OB2220, and OB2230, which isdetermined to have a high risk among a plurality of detected objectsOB2210, OB2220, and OB2230, may be displayed.

The risk level may be determined by the controller 850, based on atleast one of a shape of the object OB2210, OB2220 and OB2230, dynamicinformation of the object OB2210, OB2220 and OB2230, and a type of theobject OB2210, OB2220 and OB2230.

For example, when displaying the dynamic information of the objectOB2210, OB2220, and OB2230, the controller 850 may display the image ofthe object OB2210, OB2220 and OB2230 and/or the dynamic information ofthe object OB2210, OB2220 and OB2230 differently depending on the risk.

For example, the controller 850 may display the color of the graphicobject covering the objects OB2210 and OB2220, which are determined tohave a high risk, differently from the color of the graphic objectcovering the object OB2230 which is determined to have a low risk.

The present disclosure described above may be implemented as computerreadable codes on a medium on which a program is recorded. The computerreadable medium includes all kinds of recording units in which data thatmay be read by a computer system is stored. Examples of the computerreadable medium include a hard disk drive (HDD), a solid state disk(SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetictape, a floppy disk, and may also be implemented in the form of acarrier wave (e.g., transmission over the Internet). In some examples,the computer may include a processor or a controller. Accordingly, theabove detailed description is to be considered in all respects asillustrative and not restrictive. The scope of the present disclosureshould be determined by rational interpretation of the appended claims,and all changes within the scope of equivalents of the presentdisclosure are included in the scope of the present disclosure.

What is claimed is:
 1. A driving assistance system for a vehicle, comprising: a camera disposed on a mounting apparatus, the mounting apparatus having an end that is rotatably coupled to the vehicle and that is configured to rotate about a rotation axis that is spaced apart from the camera, wherein the camera is configured to rotate together with the mounting apparatus from a first point to a second point, the camera being configured to capture an external image of the vehicle at the first point and at the second point; and at least one processor configured to: control the camera to capture a first image at the first point and a second image at the second point, the first image and the second image including an overlapping area, detect an object around the vehicle based on an image processing of the first image and the second image, and determine a distance between the object and the vehicle based on the first image and the second image.
 2. The driving assistance system according to claim 1, wherein the rotation axis forms an angle less than 90 degrees with respect to a direction perpendicular to a ground.
 3. The driving assistance system according to claim 1, wherein the camera is disposed on a side mirror of the vehicle that is configured to rotate about the rotation axis, and wherein the camera is further configured to capture the external image of the vehicle during a rotation of the side mirror.
 4. The driving assistance system according to claim 1, wherein the camera is disposed on a front door of the vehicle and further configured to capture the external image of the vehicle during a rotation of the front door.
 5. The driving assistance system according to claim 1, wherein the at least one processor is further configured to generate a route for the vehicle to depart from a parked state based on location information of the object around the vehicle.
 6. The driving assistance system according to claim 5, wherein the at least one processor is further configured to: determine whether the object is located in a space through which the vehicle passes based on the vehicle traveling in a straight line, and generate the route for the vehicle to depart from the parked state that allows the vehicle to avoid the object based on a determination that the object is located in the space through which the vehicle passes based on the vehicle traveling in the straight line.
 7. The driving assistance system according to claim 5, wherein the at least one processor is further configured to: determine whether the object is located in a space through which the vehicle passes based on the vehicle traveling in a forward direction, and generate the route for the vehicle to depart from the parked state that allows the vehicle to move in a backward direction opposite to the forward direction based on a determination that the object is located in the space through which the vehicle passes based on the vehicle traveling in the forward direction.
 8. The driving assistance system according to claim 5, further comprises an interface configured to communicate with the at least one processor, and wherein the at least one processor is further configured to: identify a mode for the vehicle to depart from the parked state based on a selection of one of a plurality of maneuvers for the vehicle to depart from the parked state and a selection of one of a plurality of directions for the vehicle to depart from the parked state, wherein the plurality of maneuvers for the vehicle to depart from the parked state comprises a right-angle maneuver and a parallel maneuver, and the plurality of directions for the vehicle to depart from the parked state comprises a left front direction, a left rear direction, a right front direction, and a right rear direction of the vehicle, generate the route for the vehicle to depart from the parked state based on the mode, and control the interface to provide a signal to a vehicle driving device to thereby control the vehicle to travel along the route for the vehicle to depart from the parked state.
 9. The driving assistance system according to claim 5, further comprises an interface configured to communicate with the at least one processor, wherein the camera is disposed on a side mirror of the vehicle and further configured to capture the external image of the vehicle, and wherein the at least one processor is further configured to, based on the object being located in the route for the vehicle to depart from the parked state, control the interface to provide a signal to a mirror driving unit to cause the mirror driving unit to fold the side mirror based on the vehicle approaching the object, or to unfold the side mirror based on the vehicle moving away from the object.
 10. The driving assistance system according to claim 5, further comprises an interface configured to communicate with the at least one processor, and wherein the at least one processor is further configured to, based on the object being located in the route for the vehicle to depart from the parked state, control the interface to provide a signal to a power train driving unit to cause the power train driving unit to decelerate the vehicle based on the vehicle approaching the object, or to accelerate the vehicle based on the vehicle moving away from the object.
 11. The driving assistance system according to claim 5, further comprises an interface configured to communicate with the at least one processor, and wherein the at least one processor is further configured to: generate the route from a first location at which the vehicle is parked to a second location at which a driver side door of the vehicle is able to be opened to a preset amount of opening, and control the interface to provide a signal to a door driving unit to cause the door driving unit to open the driver side door based on an arrival of the vehicle at the second location.
 12. The driving assistance system according to claim 1, further comprises an interface configured to communicate with the at least one processor, and wherein the at least one processor is further configured to: identify an amount of opening of a door of the vehicle based on location information of the object, and control the interface to provide a signal to a door driving unit to cause the door driving unit to open the door of the vehicle to the identified amount of opening.
 13. The driving assistance system according to claim 12, wherein the at least one processor is further configured to identify the amount of opening of the door of the vehicle based on distance information between the door of the vehicle and the object.
 14. The driving assistance system according to claim 12, wherein the at least one processor is further configured to: determine a distance between the vehicle and the object that approaches the vehicle based on the location information of the object, and control the interface to provide a signal to the door driving unit to cause the door driving unit to close the door based on a determination that the object approaches the vehicle within a distance from the door.
 15. The driving assistance system according to claim 1, further comprises a display, and wherein the at least one processor is further configured to control the display to display an image captured by the camera.
 16. The driving assistance system according to claim 15, wherein the at least one processor is further configured to control the display to: display, based on a measurement of a distance between the object and the vehicle, a first area where the distance has been measured, the first area appearing differently in the image from a second area where the distance has not been measured.
 17. The driving assistance system according to claim 15, wherein the at least one processor is further configured to control the display to display images captured by the camera, the images having directionality corresponding to a direction of rotation of the mounting apparatus.
 18. The driving assistance system according to claim 15, wherein the at least one processor is further configured to control the display to superimpose, on to the image, information regarding motion of the object.
 19. The driving assistance system according to claim 15, wherein the at least one processor is further configured to control the display to display the image and at least a portion of information generated by an image processing of the image captured by camera.
 20. A vehicle comprising: a plurality of wheels; a power source configured to drive a rotation of at least one of the plurality of wheels; and a driving assistance system comprising: a camera disposed on a mounting apparatus, the mounting apparatus having an end that is rotatably coupled to the vehicle and that is configured to rotate about a rotation axis that is spaced apart from the camera, wherein the camera is configured to rotate together with the mounting apparatus from a first point to a second point, the camera being configured to capture an external image of the vehicle at the first point and at the second point; and at least one processor configured to: control the camera to capture a first image at the first point and a second image at the second point, the first image and the second image including an overlapping area, detect an object around the vehicle based on an image processing of the first image and the second image, and determine a distance between the object and the vehicle based on the first image and the second image. 